In [ ]:
import numpy as np
import torch
import random
from collections import deque
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
import datetime
import pickle
import math
import matplotlib.pyplot as plt
In [ ]:
def plot_learning_curve(x, scores, figure_file):
running_avg_score = np.zeros(len(scores))
for i in range(len(running_avg_score)):
running_avg_score[i] = np.mean(scores[max(0, i-100):(i+1)])
plt.plot(x, running_avg_score, '-b')
plt.title('Média móvel das últimas 100 pontuações')
plt.savefig(figure_file)
def plot_success_curve(x, successes, figure_file):
running_success_rate = np.zeros(len(successes))
for i in range(len(running_success_rate)):
running_success_rate[i] = np.mean(successes[max(0, i-50):(i+1)])
plt.plot(x, running_success_rate, '-g')
plt.title('Taxa de sucesso dos últimos 50 episódios')
plt.savefig(figure_file)
def plot_step_curve(x, steps, figure_file):
running_step_avg = np.zeros(len(steps))
for i in range(len(running_step_avg)):
running_step_avg[i] = np.mean(steps[max(0, i-200):(i+1)])
plt.plot(x, running_step_avg, '-g')
plt.title('Média móvel da duração dos últimos 200 episódios')
plt.savefig(figure_file)
In [ ]:
import mujoco
import mediapy as media
import random
class MujocoEnv1_0:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 9
self.name = "MujocoEnv-v1-0"
self.theta1 = 0
self.theta2 = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.05
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.data.qpos[0:3] = [-1,-1,2.5]
self.data.qvel[0:3] = [2.75,1,3]
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
return (theta1,theta2,x0,y0,z0,vx0,vy0,vz0)
def calculaTarget(self):
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
tempo_queda = (vz0+np.sqrt(np.abs(vz0**2+2*9.8*(z0-0.589))))/9.8
targetx = x0 + tempo_queda*vx0
targety = y0 + tempo_queda*vy0
return targetx, targety
def calculaDistanciaTarget(self, targetx, targety):
return np.sqrt((self.data.geom_xpos[9,0].copy()-targetx)**2 + (self.data.geom_xpos[9,1].copy()-targety)**2)
def calculaDistancia(self):
xo,yo,zo = self.data.geom_xpos[1].copy()
xc,yc,zc = self.data.geom_xpos[9].copy()
return np.sqrt((xo-xc)**2+(yo-yc)**2+(zo-zc)**2)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget(*self.calculaTarget())
reward = -5*distancia
if self.data.time > 3 or self.data.qpos[2] < 0.2:
done = True
if self.calculaDistancia() < 0.05:
done = True
reward += 200
print('success')
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
return (theta1,theta2,x0,y0,z0,vx0,vy0,vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget(*self.calculaTarget())
reward = -10*distancia**2
if self.data.time > 3 or self.data.qpos[2] < 0.2:
done = True
if self.calculaDistancia() < 0.05:
done = True
reward += 200
print('success')
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
return (theta1,theta2,x0,y0,z0,vx0,vy0,vz0), reward, done
class MujocoEnv1_1:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 4
self.action_dim = 9
self.name = "MujocoEnv-v1-1"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
return (xc,yc,self.targetx,self.targety)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
class MujocoEnv1_2:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 4
self.action_dim = 9
self.name = "MujocoEnv-v1-2"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.targetx,self.targety)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.targetx,self.targety), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.targetx,self.targety), reward, done
class MujocoEnv0_0:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 4
self.action_dim = 9
self.name = "MujocoEnv-v0-0"
self.theta1 = 0
self.theta2 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.05
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
xc,yc,zc = self.data.geom_xpos[9].copy()
ang = random.uniform(-np.pi,np.pi)
r = random.uniform(1,1.7)
self.targetx = r*np.sin(ang)
self.targety = r*np.cos(ang)
return (xc,yc,self.targetx,self.targety)
def calculaDistanciaTarget(self, targetx, targety):
return np.sqrt((self.data.geom_xpos[9,0].copy()-targetx)**2 + (self.data.geom_xpos[9,1].copy()-targety)**2)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget(self.targetx,self.targety)
reward = -2*distancia -2
if self.data.time > 5:
done = True
if distancia < 0.15:
done = True
reward += 200
print('success')
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget(self.targetx,self.targety)
reward = -2*distancia -2
if self.data.time > 5:
done = True
if distancia < 0.15:
done = True
reward += 200
print('success')
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
class MujocoEnv2_0:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 9
self.name = "MujocoEnv-v2-0"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
print(self.data)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
self.tfin = 0
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < 0.05:
done = True
reward += 200
print('success')
self.tfin = self.data.time
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < 0.05:
done = True
self.tfin = self.data.time
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
class MujocoEnv2_1:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 9
self.name = "MujocoEnv-v2-1"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.dist = 0.45
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
self.tfin = 0
self.angle = 0
self.radius = 0
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def setNextDistancia(self):
if self.dist>0.06:
self.dist = self.dist*0.8
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def getBolaFixa(self):
self.x0 = self.radius*np.cos(self.angle)
self.y0 = self.radius*np.sin(self.angle)
self.z0 = 2.5
self.vx0 = 0
self.vy0 = 0
self.vz0 = 2.5
self.calculaTarget()
def variaPos(self,radius,angle):
self.radius = radius
self.angle = angle
def resetFixo(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getBolaFixa()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
self.dist = 0.15
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 2*action[0]
omega2 = 2*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.dist:
done = True
reward += 200
print('success')
self.tfin = self.data.time
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 2*action[0]
omega2 = 2*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.dist:
done = True
self.tfin = self.data.time
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
class MujocoEnv2_2:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 9
self.name = "MujocoEnv-v2-2"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.distlist = [1.6,0.8,0.4,0.06]
self.distcount = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
self.tfin = 0
self.successes = 0
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getGoodBola()
self.calculaTarget()
d = self.calculaDistanciaTarget()
self.distlist = [0.75*d,0.5*d,0.25*d,0.06]
if d < 0.06: self.distlist = [0.06]
self.distcount = 0
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.distlist[self.distcount]:
self.distcount += 1
reward += 100
self.successes += 1
if self.distcount == len(self.distlist):
done = True
reward += 100
print('success')
self.tfin = self.data.time
self.data.ctrl[0:6] = [0,0,0,0,0,0]
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
...
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.distlist[self.distcount]:
self.distcount += 1
reward += 100
self.successes += 1
if self.distcount == len(self.distlist):
done = True
reward += 100
print('success')
self.tfin = self.data.time
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
In [ ]:
MODEL_FILE = "./ddqn_mujoco_model"
DEVICE = torch.device("cuda" if torch.cuda.is_available() else "cpu")
class ExperienceReplay:
def __init__(self, buffer_size):
self.buffer = deque(maxlen=buffer_size)
def __len__(self):
return len(self.buffer)
# Add a transition to the memory by basic SARNS convention.
def store_transition(self, state, action, reward, new_state, done):
# If buffer is abuot to overflow, begin rewriting existing memory?
self.buffer.append((state, action, reward, new_state, done))
# Sample only the memory that has been stored. Samples BATCH
# amount of samples.
def sample(self):
sample = random.sample(self.buffer, BATCH_SIZE)
states, actions, rewards, next_states, dones = zip(*sample)
#print ("actions",actions)
states = torch.tensor(states).float().to(DEVICE)
actions = torch.stack(actions).long().to(DEVICE)
rewards = torch.from_numpy(np.array(rewards, dtype=np.float32).reshape(-1, 1)).to(DEVICE)
next_states = torch.tensor(next_states).float().to(DEVICE)
dones = torch.from_numpy(np.array(dones, dtype=np.uint8).reshape(-1, 1)).float().to(DEVICE)
return (states, actions, rewards, next_states, dones)
class QNetwork(nn.Module):
def __init__(self, state_dim, action_dim):
super(QNetwork, self).__init__()
# Make a simple 3 later linear network
self.l1 = nn.Linear(state_dim, 512)
self.l2 = nn.Linear(512, 256)
self.l3 = nn.Linear(256, action_dim)
#self.max_action = max_action
def forward(self, state):
x = F.relu(self.l1(state))
x = F.relu(self.l2(x))
#x = self.max_action * torch.tanh(self.l3(x))
return self.l3(x)
class Agent():
# Initialize the agent
def __init__(self, state_dim, action_dim):
self.memory = ExperienceReplay(MEM_SIZE)
self.action_dim = action_dim
self.main_model = QNetwork(state_dim, action_dim).to(DEVICE)
self.target_model = QNetwork(state_dim, action_dim).to(DEVICE)
self.optimizer = optim.Adam(self.main_model.parameters(), lr=LR)
self.eps = 1
self.eps_decay = 0.999
self.eps_min = 0.01
# Target model will be a copy of the main model and will not be trained
self.target_model.load_state_dict(self.main_model.state_dict())
self.target_model.eval()
# Agent saves its experiences and learn
def step(self, state, action, reward, new_state, done):
# Stores the transition into Experience Replay
self.memory.store_transition(state, action, reward, new_state, done)
# Agent will only learn when there are enough experiences
if len(self.memory) > BATCH_SIZE:
self.learn()
# Agent learns
def learn(self):
# Sample random minibatch of transitions from Experience Replay
state, action, reward, new_state, done = self.memory.sample()
#print("state",state,len(state),"\n action",action,len(action))
#print ("target",self.main_model(state))
# Computes Q(s_{curr},a') then chooses columns of actions that were taken for each batch
q_eval = self.main_model(state).gather(1,action.unsqueeze(1))
#print("a",self.main_model(state)[1],action[1],q_eval[1])
# Clone the model and use it to generate Q learning targets for the main model
# Also predicts the max Q value for the next state
#print ("target",self.main_model(state))
q_next = self.target_model(new_state).detach().max(1)[0].unsqueeze(1)
#print("b",self.target_model(new_state)[1],q_next[1])
# Q learning targets = r if next state is terminal or
# Q learning targets = r + GAMMA*(Q(s_{next},a')) if next state is not terminal
q_target = reward + GAMMA*(q_next) *(1-done)
# Compute MSE loss
loss = F.mse_loss(q_eval, q_target)
# Stochastic gradient descent on the loss function and does backpropragation
self.optimizer.zero_grad()
loss.backward()
'''for param in self.main_model.parameters():
# Clip the error term to be between -1 and 1
param.grad.data.clamp_(-1,1)'''
self.optimizer.step()
def decrement_epsilon(self):
self.eps *= self.eps_decay
if self.eps < self.eps_min:
self.eps = self.eps_min
# Action chosen is either a random action or based on the Bellman Equation
def take_action(self,action):
ternary = np.base_repr(action, base=3)
ternary = ternary.zfill(2)
#print(enumerate(ternary))
action_array = np.zeros(2)
for i,n in enumerate(ternary):
#print("n",n)
action_array[i] = (int(n) - 1)
#print ("oi",action_array)
return action_array
def choose_action(self, state):
# With probability EPSILON, select a random action
#print (state)
if np.random.random() < self.eps:
#return torch.from_numpy(self.action_space.sample())
acao = random.randint(0,8)
# Otherwise select the action with the highest Q value
else:
#print (state)
state = torch.FloatTensor(np.array(state).reshape(1,-1)).to(DEVICE)
#print ("state",state)
# action that maximizes Q*(s',a';THETA)
with torch.no_grad():
acao = self.main_model(state).max(1)[1].item()
#print ("escolhe",self.main_model(state),acao)
return acao
def soft_update_target_model(self, tau):
target_model_state_dict = self.target_model.state_dict()
main_model_state_dict = self.main_model.state_dict()
for key in main_model_state_dict:
target_model_state_dict[key] = main_model_state_dict[key] * tau + target_model_state_dict[key] * (1 - tau)
self.target_model.load_state_dict(target_model_state_dict)
def save_model(model, path):
torch.save(model.state_dict(), path)
def load_model(model, path):
model.load_state_dict(torch.load(path))
return model
def replay_actions(env, actions):
done = False
state = env.reset()
for action in actions:
env.render()
env.step(action)
env.close()
def store_actions(actions, path):
actions_file = open(path,'wb')
pickle.dump(actions, actions_file)
actions_file.close()
def load_actions(path):
actions_file = open(path,'rb')
actions = pickle.load(actions_file)
actions_file.close()
return actions
In [ ]:
# Hyperparameters
N_GAMES = 10000
MEM_SIZE = 100000
BATCH_SIZE = 64
TARGET_UPDATE = 4
GAMMA = 0.99
TAU = 0.005
LR = 1e-4
steps_taken = 0
In [ ]:
def main():
plt.ion()
env = MujocoEnv2_0()
state_dim = env.state_dim
action_dim = env.action_dim
agent = Agent(state_dim, action_dim)
load = input("load from model? [y/n]: ")
filename = 'DDQN_mujoco'
figure_file_score = 'plots/' + filename + '_score.png'
figure_file_catchrate = 'plots/' + filename + '_catchrate.png'
figure_file_steps = 'plots/' + filename + '_steps.png'
if load == "y":
agent.main_model = load_model(agent.main_model, MODEL_FILE)
agent.target_model = load_model(agent.main_model, MODEL_FILE)
actions = load_actions(MODEL_FILE+'_actions')
agent.eps = agent.eps_min
max_score = -10000
max_game = 0
scores = []
start = datetime.datetime.now()
step_history = []
score_history = []
success_history = []
for game in range(N_GAMES):
done = False
score = 0
success = 0
observation = env.reset()
#print(observation)
game_actions = [] # actions taken during this game
episode_start = datetime.datetime.now()
if game%500 != 499:
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.step(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
else:
while not done:
action = agent.choose_action(observation)
observation_, reward, done = env.rstep(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
media.show_video(env.frames, fps=env.framerate)
# Update variables each game
agent.decrement_epsilon()
episode_end = datetime.datetime.now()
elapsed = episode_end - episode_start
scores.append(score)
avg_score = np.mean(scores[-100:])
step_history.append(env.tfin)
score_history.append(score)
success_history.append(success)
# Checks if the max score has been beaten
if score > max_score:
max_score = score
max_game = game
save_model(agent.main_model, MODEL_FILE)
store_actions(game_actions, MODEL_FILE+'_actions')
print("eps:",agent.eps)
print('game:', game)
print('steps',env.tfin)
print('reward:', str(score))
print("max reward:", str(max_score), "at game", str(max_game))
print('average score for the last 100 games:', avg_score)
print('time:', str(elapsed.total_seconds()),'seconds')
print()
# After going through N_GAMES
end = datetime.datetime.now()
elapsed = end - start
print('Total time:',elapsed.total_seconds(), 'seconds')
x = [i+1 for i in range(N_GAMES)]
%matplotlib inline
plt.figure('learning')
plot_learning_curve(x, score_history, figure_file_score)
plt.figure('catching')
plot_success_curve(x, success_history, figure_file_catchrate)
plt.figure('steps')
plot_step_curve(x, step_history, figure_file_steps)
scores_file = open(MODEL_FILE+'_scores','wb')
pickle.dump(scores, scores_file)
scores_file.close()
main()
In [ ]:
### RECOMPENSA DINÂMICA ###
# Hyperparameters
N_GAMES = 30001
MEM_SIZE = 100000
BATCH_SIZE = 32
TARGET_UPDATE = 4
GAMMA = 0.99
TAU = 0.005
LR = 1e-4
steps_taken = 0
if __name__ == '__main__':
plt.ion()
env = MujocoEnv2_1()
state_dim = env.state_dim
action_dim = env.action_dim
agent = Agent(state_dim, action_dim)
load = input("load from model? [y/n]: ")
filename = 'DDQN_mujoco'
figure_file_score = 'plots/' + filename + '_score.png'
figure_file_catchrate = 'plots/' + filename + '_catchrate.png'
figure_file_steps = 'plots/' + filename + '_steps.png'
if load == "y":
agent.main_model = load_model(agent.main_model, MODEL_FILE)
agent.target_model = load_model(agent.main_model, MODEL_FILE)
actions = load_actions(MODEL_FILE+'_actions')
agent.eps = agent.eps_min
max_score = -10000
max_game = 0
scores = []
start = datetime.datetime.now()
step_history = []
score_history = []
success_history = []
partial_success_history = []
next_level_points = []
for game in range(N_GAMES):
done = False
score = 0
success = 0
observation = env.reset()
#print(observation)
game_actions = [] # actions taken during this game
episode_start = datetime.datetime.now()
if game not in [200,500,1000,2000,5000,10000,15000,20000,25000,30000]:
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.step(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
else:
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.rstep(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
media.show_video(env.frames, fps=env.framerate)
# Update variables each game
agent.decrement_epsilon()
episode_end = datetime.datetime.now()
elapsed = episode_end - episode_start
scores.append(score)
avg_score = np.mean(scores[-100:])
step_history.append(env.tfin)
score_history.append(score)
success_history.append(success)
partial_success_history.append(success)
# Checks if the max score has been beaten
if score > max_score:
max_score = score
max_game = game
save_model(agent.main_model, MODEL_FILE)
store_actions(game_actions, MODEL_FILE+'_actions')
if len(partial_success_history)>600 and np.mean(partial_success_history[-100:])>0.9:
partial_success_history = []
env.setNextDistancia()
agent.eps += 0.2
next_level_points.append(game)
print('NEXT LEVEL')
print("eps:",agent.eps)
print('game:', game)
print('reward:', str(score))
print('average score for the last 100 games:', avg_score)
print('partial success avg %.2f' %np.mean(partial_success_history[-100:]), ' dist %.2f' %env.dist)
print('time:', str(elapsed.total_seconds()),'seconds')
print()
# After going through N_GAMES
end = datetime.datetime.now()
elapsed = end - start
print('Total time:',elapsed.total_seconds(), 'seconds')
x = [i+1 for i in range(N_GAMES)]
%matplotlib inline
plt.figure('learning')
plot_learning_curve(x, score_history, figure_file_score)
plt.figure('catching')
plot_success_curve(x, success_history, figure_file_catchrate)
plt.figure('steps')
plot_step_curve(x, step_history, figure_file_steps)
scores_file = open(MODEL_FILE+'_scores','wb')
pickle.dump(scores, scores_file)
scores_file.close()
eps: 0.999 game: 0 reward: -651.1368563954239 average score for the last 100 games: -651.1368563954239 partial success avg 0.00 dist 0.45 time: 0.426668 seconds eps: 0.998001 game: 1 reward: -499.2723537067085 average score for the last 100 games: -575.2046050510662 partial success avg 0.00 dist 0.45 time: 0.360975 seconds eps: 0.997002999 game: 2 reward: -770.0068261627824 average score for the last 100 games: -640.1386787549717 partial success avg 0.00 dist 0.45 time: 0.382242 seconds eps: 0.996005996001 game: 3 reward: -685.7878616610448 average score for the last 100 games: -651.5509744814899 partial success avg 0.00 dist 0.45 time: 0.378834 seconds success eps: 0.995009990004999 game: 4 reward: 197.20822560345638 average score for the last 100 games: -481.79913446450064 partial success avg 0.20 dist 0.45 time: 0.007681 seconds eps: 0.994014980014994 game: 5 reward: -462.825851088521 average score for the last 100 games: -478.6369205685041 partial success avg 0.17 dist 0.45 time: 0.424148 seconds success eps: 0.993020965034979 game: 6 reward: 122.90156790572112 average score for the last 100 games: -392.7028507864719 partial success avg 0.29 dist 0.45 time: 0.08017 seconds eps: 0.9920279440699441 game: 7 reward: -734.8087595506972 average score for the last 100 games: -435.46608938200006 partial success avg 0.25 dist 0.45 time: 0.396367 seconds eps: 0.9910359161258742 game: 8 reward: -821.809329803388 average score for the last 100 games: -478.39311609548764 partial success avg 0.22 dist 0.45 time: 0.408107 seconds eps: 0.9900448802097482 game: 9 reward: -345.88451049479795 average score for the last 100 games: -465.14225553541866 partial success avg 0.20 dist 0.45 time: 0.368447 seconds success eps: 0.9890548353295385 game: 10 reward: 185.25248138554448 average score for the last 100 games: -406.01546126987654 partial success avg 0.27 dist 0.45 time: 0.02696 seconds eps: 0.988065780494209 game: 11 reward: -691.9333431420148 average score for the last 100 games: -429.84195142588806 partial success avg 0.25 dist 0.45 time: 0.376542 seconds success eps: 0.9870777147137147 game: 12 reward: -123.58326715604093 average score for the last 100 games: -406.28359109743826 partial success avg 0.31 dist 0.45 time: 0.32107 seconds success eps: 0.986090636999001 game: 13 reward: 97.00328426514093 average score for the last 100 games: -370.3345285715398 partial success avg 0.36 dist 0.45 time: 0.120732 seconds eps: 0.9851045463620021 game: 14 reward: -238.50039677060965 average score for the last 100 games: -361.5455864514778 partial success avg 0.33 dist 0.45 time: 0.356191 seconds eps: 0.98411944181564 game: 15 reward: -539.1527868559758 average score for the last 100 games: -372.64603647675887 partial success avg 0.31 dist 0.45 time: 0.430109 seconds success eps: 0.9831353223738244 game: 16 reward: -138.8654365576434 average score for the last 100 games: -358.89423648151677 partial success avg 0.35 dist 0.45 time: 0.274511 seconds success eps: 0.9821521870514506 game: 17 reward: -176.13608201103895 average score for the last 100 games: -348.7410056776013 partial success avg 0.39 dist 0.45 time: 0.268864 seconds eps: 0.9811700348643991 game: 18 reward: -266.0635590252267 average score for the last 100 games: -344.38956111695 partial success avg 0.37 dist 0.45 time: 0.363324 seconds success eps: 0.9801888648295347 game: 19 reward: 196.9388163608763 average score for the last 100 games: -317.32314224305867 partial success avg 0.40 dist 0.45 time: 0.006909 seconds success eps: 0.9792086759647052 game: 20 reward: 196.94943186631227 average score for the last 100 games: -292.8339720473744 partial success avg 0.43 dist 0.45 time: 0.007458 seconds eps: 0.9782294672887405 game: 21 reward: -679.5495091399779 average score for the last 100 games: -310.4119510061291 partial success avg 0.41 dist 0.45 time: 0.402324 seconds eps: 0.9772512378214517 game: 22 reward: -768.7320347711859 average score for the last 100 games: -330.3389111698272 partial success avg 0.39 dist 0.45 time: 0.375868 seconds success eps: 0.9762739865836303 game: 23 reward: 197.46624409346865 average score for the last 100 games: -308.34702970052325 partial success avg 0.42 dist 0.45 time: 0.009243 seconds eps: 0.9752977125970467 game: 24 reward: -668.3114776516135 average score for the last 100 games: -322.74560761856685 partial success avg 0.40 dist 0.45 time: 0.386841 seconds success eps: 0.9743224148844496 game: 25 reward: 197.29658285631962 average score for the last 100 games: -302.74398490799433 partial success avg 0.42 dist 0.45 time: 0.00727 seconds eps: 0.9733480924695651 game: 26 reward: -310.92051826011635 average score for the last 100 games: -303.04681947659145 partial success avg 0.41 dist 0.45 time: 0.379698 seconds eps: 0.9723747443770956 game: 27 reward: -450.53838784606126 average score for the last 100 games: -308.3143754897868 partial success avg 0.39 dist 0.45 time: 0.399757 seconds eps: 0.9714023696327185 game: 28 reward: -533.5154688629975 average score for the last 100 games: -316.0799304336906 partial success avg 0.38 dist 0.45 time: 0.423284 seconds eps: 0.9704309672630859 game: 29 reward: -616.8052340377449 average score for the last 100 games: -326.10410722049244 partial success avg 0.37 dist 0.45 time: 0.400652 seconds success eps: 0.9694605362958227 game: 30 reward: -354.2740998700896 average score for the last 100 games: -327.01281666080206 partial success avg 0.39 dist 0.45 time: 0.347839 seconds eps: 0.9684910757595269 game: 31 reward: -624.8549411013546 average score for the last 100 games: -336.3203830495693 partial success avg 0.38 dist 0.45 time: 0.416413 seconds success eps: 0.9675225846837673 game: 32 reward: -180.89815916846513 average score for the last 100 games: -331.61061868953584 partial success avg 0.39 dist 0.45 time: 0.323171 seconds success eps: 0.9665550620990835 game: 33 reward: 197.2413662197034 average score for the last 100 games: -316.05614854514647 partial success avg 0.41 dist 0.45 time: 0.007405 seconds eps: 0.9655885070369844 game: 34 reward: -513.8419337553735 average score for the last 100 games: -321.70717097972437 partial success avg 0.40 dist 0.45 time: 0.37248 seconds eps: 0.9646229185299474 game: 35 reward: -416.1097660868309 average score for the last 100 games: -324.3294652882551 partial success avg 0.39 dist 0.45 time: 0.366608 seconds success eps: 0.9636582956114175 game: 36 reward: 193.7100707732859 average score for the last 100 games: -310.3283967460513 partial success avg 0.41 dist 0.45 time: 0.013937 seconds success eps: 0.9626946373158061 game: 37 reward: -141.68586324922074 average score for the last 100 games: -305.89043533823997 partial success avg 0.42 dist 0.45 time: 0.290945 seconds eps: 0.9617319426784903 game: 38 reward: -227.5310401149129 average score for the last 100 games: -303.8812200761034 partial success avg 0.41 dist 0.45 time: 0.365997 seconds eps: 0.9607702107358118 game: 39 reward: -873.991203848408 average score for the last 100 games: -318.1339696704109 partial success avg 0.40 dist 0.45 time: 0.382998 seconds success eps: 0.959809440525076 game: 40 reward: 143.3868046113371 average score for the last 100 games: -306.8773654196366 partial success avg 0.41 dist 0.45 time: 0.103307 seconds eps: 0.9588496310845509 game: 41 reward: -987.0564629524 average score for the last 100 games: -323.07210583708337 partial success avg 0.40 dist 0.45 time: 0.3881 seconds eps: 0.9578907814534664 game: 42 reward: -220.9638657964269 average score for the last 100 games: -320.6974956035797 partial success avg 0.40 dist 0.45 time: 0.418636 seconds success eps: 0.9569328906720129 game: 43 reward: -346.29377047216826 average score for the last 100 games: -321.27922912332036 partial success avg 0.41 dist 0.45 time: 0.342387 seconds eps: 0.9559759577813409 game: 44 reward: -792.898151546209 average score for the last 100 games: -331.75964962160674 partial success avg 0.40 dist 0.45 time: 0.39953 seconds eps: 0.9550199818235596 game: 45 reward: -302.3846562179639 average score for the last 100 games: -331.1210628084841 partial success avg 0.39 dist 0.45 time: 0.372662 seconds eps: 0.9540649618417361 game: 46 reward: -703.0950071195288 average score for the last 100 games: -339.03540204914464 partial success avg 0.38 dist 0.45 time: 0.41016 seconds eps: 0.9531108968798944 game: 47 reward: -796.0445600405609 average score for the last 100 games: -348.5564261739658 partial success avg 0.38 dist 0.45 time: 0.420481 seconds success eps: 0.9521577859830145 game: 48 reward: 180.88241092933936 average score for the last 100 games: -337.7515519473678 partial success avg 0.39 dist 0.45 time: 0.036142 seconds success eps: 0.9512056281970315 game: 49 reward: 197.3070037778971 average score for the last 100 games: -327.05038083286246 partial success avg 0.40 dist 0.45 time: 0.007769 seconds eps: 0.9502544225688344 game: 50 reward: -571.4580465266442 average score for the last 100 games: -331.84268800332876 partial success avg 0.39 dist 0.45 time: 0.396856 seconds eps: 0.9493041681462656 game: 51 reward: -635.940108990943 average score for the last 100 games: -337.69071533001363 partial success avg 0.38 dist 0.45 time: 0.4223 seconds success eps: 0.9483548639781193 game: 52 reward: -32.38069651563811 average score for the last 100 games: -331.9301489372896 partial success avg 0.40 dist 0.45 time: 0.380144 seconds eps: 0.9474065091141411 game: 53 reward: -684.5596623182822 average score for the last 100 games: -338.4603251110116 partial success avg 0.39 dist 0.45 time: 0.373877 seconds success eps: 0.946459102605027 game: 54 reward: 194.04177673449993 average score for the last 100 games: -328.77846871382053 partial success avg 0.40 dist 0.45 time: 0.016398 seconds eps: 0.9455126435024219 game: 55 reward: -928.423016849344 average score for the last 100 games: -339.4864070733834 partial success avg 0.39 dist 0.45 time: 0.39392 seconds success eps: 0.9445671308589195 game: 56 reward: -69.34152169453665 average score for the last 100 games: -334.7470231193686 partial success avg 0.40 dist 0.45 time: 0.209039 seconds eps: 0.9436225637280606 game: 57 reward: -327.99420901904557 average score for the last 100 games: -334.6305952900526 partial success avg 0.40 dist 0.45 time: 0.373254 seconds success eps: 0.9426789411643326 game: 58 reward: 197.14572376801829 average score for the last 100 games: -325.61743733991585 partial success avg 0.41 dist 0.45 time: 0.009883 seconds success eps: 0.9417362622231683 game: 59 reward: 32.18154980020245 average score for the last 100 games: -319.6541208875805 partial success avg 0.42 dist 0.45 time: 0.156183 seconds eps: 0.9407945259609451 game: 60 reward: -576.9083149735732 average score for the last 100 games: -323.8714027578427 partial success avg 0.41 dist 0.45 time: 0.387354 seconds success eps: 0.9398537314349842 game: 61 reward: 197.23378815912744 average score for the last 100 games: -315.466480323698 partial success avg 0.42 dist 0.45 time: 0.007326 seconds success eps: 0.9389138777035492 game: 62 reward: -341.15621598713835 average score for the last 100 games: -315.87425390565744 partial success avg 0.43 dist 0.45 time: 0.286011 seconds eps: 0.9379749638258457 game: 63 reward: -399.94269382266395 average score for the last 100 games: -317.1878232793607 partial success avg 0.42 dist 0.45 time: 0.373851 seconds eps: 0.9370369888620198 game: 64 reward: -862.074829184332 average score for the last 100 games: -325.5707002932834 partial success avg 0.42 dist 0.45 time: 0.401039 seconds eps: 0.9360999518731578 game: 65 reward: -732.1342479161791 average score for the last 100 games: -331.73075404514543 partial success avg 0.41 dist 0.45 time: 0.370628 seconds eps: 0.9351638519212846 game: 66 reward: -970.784818937367 average score for the last 100 games: -341.2688744166711 partial success avg 0.40 dist 0.45 time: 0.396443 seconds eps: 0.9342286880693633 game: 67 reward: -636.8474383711614 average score for the last 100 games: -345.61561800423715 partial success avg 0.40 dist 0.45 time: 0.373783 seconds eps: 0.933294459381294 game: 68 reward: -412.1786278600428 average score for the last 100 games: -346.5802993064952 partial success avg 0.39 dist 0.45 time: 0.440684 seconds eps: 0.9323611649219127 game: 69 reward: -702.9740499523042 average score for the last 100 games: -351.6716386014353 partial success avg 0.39 dist 0.45 time: 0.438161 seconds success eps: 0.9314288037569908 game: 70 reward: 139.1707863304449 average score for the last 100 games: -344.75836501084547 partial success avg 0.39 dist 0.45 time: 0.071148 seconds eps: 0.9304973749532338 game: 71 reward: -620.2188452200403 average score for the last 100 games: -348.58420501375093 partial success avg 0.39 dist 0.45 time: 0.416176 seconds eps: 0.9295668775782806 game: 72 reward: -721.2471792268049 average score for the last 100 games: -353.6891772632448 partial success avg 0.38 dist 0.45 time: 0.391161 seconds eps: 0.9286373107007023 game: 73 reward: -330.3214759365129 average score for the last 100 games: -353.3733975155863 partial success avg 0.38 dist 0.45 time: 0.371499 seconds success eps: 0.9277086733900016 game: 74 reward: 197.2720683290621 average score for the last 100 games: -346.03145797099097 partial success avg 0.39 dist 0.45 time: 0.007699 seconds eps: 0.9267809647166116 game: 75 reward: -483.21989299467486 average score for the last 100 games: -347.8365689581447 partial success avg 0.38 dist 0.45 time: 0.377463 seconds eps: 0.925854183751895 game: 76 reward: -686.3393378504041 average score for the last 100 games: -352.23270881388834 partial success avg 0.38 dist 0.45 time: 0.395981 seconds eps: 0.9249283295681431 game: 77 reward: -606.0011441710103 average score for the last 100 games: -355.4861502928258 partial success avg 0.37 dist 0.45 time: 0.394895 seconds success eps: 0.9240034012385749 game: 78 reward: 9.88924278211698 average score for the last 100 games: -350.8611453171937 partial success avg 0.38 dist 0.45 time: 0.191029 seconds eps: 0.9230793978373364 game: 79 reward: -1014.375147960384 average score for the last 100 games: -359.1550703502335 partial success avg 0.38 dist 0.45 time: 0.384323 seconds eps: 0.9221563184394991 game: 80 reward: -729.4945082415567 average score for the last 100 games: -363.7271621760523 partial success avg 0.37 dist 0.45 time: 0.379327 seconds success eps: 0.9212341621210596 game: 81 reward: 193.73553652995957 average score for the last 100 games: -356.92883658207654 partial success avg 0.38 dist 0.45 time: 0.014138 seconds success eps: 0.9203129279589385 game: 82 reward: -246.2079432026862 average score for the last 100 games: -355.594849914855 partial success avg 0.39 dist 0.45 time: 0.375492 seconds eps: 0.9193926150309796 game: 83 reward: -419.4774147369478 average score for the last 100 games: -356.3553566389275 partial success avg 0.38 dist 0.45 time: 0.3777 seconds eps: 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avg 0.85 dist 0.36 time: 0.034367 seconds eps: 0.24610852218242593 game: 1881 reward: -305.420853729456 average score for the last 100 games: 38.568564630853416 partial success avg 0.84 dist 0.36 time: 0.433838 seconds success eps: 0.2458624136602435 game: 1882 reward: 167.8789378867402 average score for the last 100 games: 39.01488322873539 partial success avg 0.84 dist 0.36 time: 0.049562 seconds success eps: 0.24561655124658327 game: 1883 reward: 181.7159116744078 average score for the last 100 games: 40.61534705173773 partial success avg 0.84 dist 0.36 time: 0.039648 seconds success eps: 0.2453709346953367 game: 1884 reward: 170.62818645360124 average score for the last 100 games: 40.564179227262045 partial success avg 0.84 dist 0.36 time: 0.043575 seconds success eps: 0.24512556376064135 game: 1885 reward: 159.45789664901093 average score for the last 100 games: 46.46691727059657 partial success avg 0.85 dist 0.36 time: 0.066813 seconds success eps: 0.2448804381968807 game: 1886 reward: -38.89842274948748 average score for the last 100 games: 45.1562395012291 partial success avg 0.85 dist 0.36 time: 0.269091 seconds success eps: 0.24463555775868384 game: 1887 reward: 175.81289383050967 average score for the last 100 games: 46.43238906008517 partial success avg 0.85 dist 0.36 time: 0.036681 seconds success eps: 0.24439092220092515 game: 1888 reward: 141.40512567462673 average score for the last 100 games: 47.601679700929864 partial success avg 0.85 dist 0.36 time: 0.077813 seconds eps: 0.2441465312787242 game: 1889 reward: -267.5887209543585 average score for the last 100 games: 44.19428365262579 partial success avg 0.84 dist 0.36 time: 0.416046 seconds success eps: 0.2439023847474455 game: 1890 reward: 173.42027949350117 average score for the last 100 games: 45.078379528376836 partial success avg 0.84 dist 0.36 time: 0.054705 seconds success eps: 0.24365848236269805 game: 1891 reward: 124.50388234416708 average score for the last 100 games: 46.402510791282445 partial success avg 0.84 dist 0.36 time: 0.08027 seconds success eps: 0.24341482388033536 game: 1892 reward: 77.69437821646713 average score for the last 100 games: 46.67425544123094 partial success avg 0.84 dist 0.36 time: 0.095923 seconds success eps: 0.24317140905645504 game: 1893 reward: 171.4276448443288 average score for the last 100 games: 47.605313338386885 partial success avg 0.84 dist 0.36 time: 0.047226 seconds success eps: 0.2429282376473986 game: 1894 reward: -71.38472339453165 average score for the last 100 games: 45.86722094074172 partial success avg 0.84 dist 0.36 time: 0.228336 seconds eps: 0.2426853094097512 game: 1895 reward: -294.6445844615637 average score for the last 100 games: 41.80636792309766 partial success avg 0.83 dist 0.36 time: 0.416909 seconds success eps: 0.24244262410034145 game: 1896 reward: 166.72339053572293 average score for the last 100 games: 41.716626222383674 partial success avg 0.83 dist 0.36 time: 0.069049 seconds success eps: 0.24220018147624112 game: 1897 reward: 110.31493964090642 average score for the last 100 games: 46.10789196950711 partial success avg 0.84 dist 0.36 time: 0.141704 seconds eps: 0.24195798129476487 game: 1898 reward: -285.00354064526067 average score for the last 100 games: 41.801175720100055 partial success avg 0.83 dist 0.36 time: 0.47933 seconds success eps: 0.2417160233134701 game: 1899 reward: 154.73358174689577 average score for the last 100 games: 41.64815720125187 partial success avg 0.83 dist 0.36 time: 0.0616 seconds success eps: 0.24147430729015665 game: 1900 reward: -41.79748030054208 average score for the last 100 games: 39.61498928198348 partial success avg 0.83 dist 0.36 time: 0.174552 seconds success eps: 0.2412328329828665 game: 1901 reward: 165.35263757445705 average score for the last 100 games: 39.472420447986686 partial success avg 0.83 dist 0.36 time: 0.040025 seconds success eps: 0.24099160014988363 game: 1902 reward: 197.80892685827524 average score for the last 100 games: 39.780307589828 partial success avg 0.83 dist 0.36 time: 0.008033 seconds success eps: 0.24075060854973376 game: 1903 reward: 100.71158981559532 average score for the last 100 games: 38.97057191247405 partial success avg 0.83 dist 0.36 time: 0.087309 seconds success eps: 0.24050985794118404 game: 1904 reward: 164.3719206495905 average score for the last 100 games: 38.930546830146206 partial success avg 0.83 dist 0.36 time: 0.068251 seconds success eps: 0.24026934808324285 game: 1905 reward: 31.57062066794998 average score for the last 100 games: 37.302982991286406 partial success avg 0.83 dist 0.36 time: 0.319169 seconds success eps: 0.2400290787351596 game: 1906 reward: 163.8690867645491 average score for the last 100 games: 36.965633222701 partial success avg 0.83 dist 0.36 time: 0.054201 seconds success eps: 0.23978904965642445 game: 1907 reward: 164.87069898640618 average score for the last 100 games: 36.936823322962525 partial success avg 0.83 dist 0.36 time: 0.043272 seconds success eps: 0.239549260606768 game: 1908 reward: 185.21025573800384 average score for the last 100 games: 40.939911658846725 partial success avg 0.84 dist 0.36 time: 0.035082 seconds success eps: 0.23930971134616125 game: 1909 reward: 154.3505189979469 average score for the last 100 games: 43.26301969573804 partial success avg 0.84 dist 0.36 time: 0.128162 seconds success eps: 0.23907040163481508 game: 1910 reward: -95.73716953505044 average score for the last 100 games: 41.59899014617037 partial success avg 0.84 dist 0.36 time: 0.2374 seconds eps: 0.23883133123318026 game: 1911 reward: -276.3589623829757 average score for the last 100 games: 39.98348186311959 partial success avg 0.83 dist 0.36 time: 0.501225 seconds success eps: 0.23859249990194709 game: 1912 reward: 143.56715937277613 average score for the last 100 games: 44.48369670786635 partial success avg 0.84 dist 0.36 time: 0.060895 seconds eps: 0.23835390740204515 game: 1913 reward: -295.41403774267616 average score for the last 100 games: 39.594150567953236 partial success avg 0.83 dist 0.36 time: 0.397459 seconds success eps: 0.2381155534946431 game: 1914 reward: 159.45748591365242 average score for the last 100 games: 39.214269341422494 partial success avg 0.83 dist 0.36 time: 0.074801 seconds success eps: 0.23787743794114846 game: 1915 reward: 159.50112464565842 average score for the last 100 games: 39.18458755243113 partial success avg 0.83 dist 0.36 time: 0.092863 seconds success eps: 0.2376395605032073 game: 1916 reward: 158.56222769504308 average score for the last 100 games: 41.04966219777273 partial success avg 0.83 dist 0.36 time: 0.048859 seconds success eps: 0.2374019209427041 game: 1917 reward: 197.40636162092443 average score for the last 100 games: 41.92977157391685 partial success avg 0.83 dist 0.36 time: 0.007962 seconds success eps: 0.2371645190217614 game: 1918 reward: 159.00121887610754 average score for the last 100 games: 46.79211437469231 partial success avg 0.84 dist 0.36 time: 0.050193 seconds success eps: 0.23692735450273963 game: 1919 reward: 118.81191284116899 average score for the last 100 games: 51.28044053609957 partial success avg 0.85 dist 0.36 time: 0.090078 seconds eps: 0.2366904271482369 game: 1920 reward: -309.36702708704684 average score for the last 100 games: 47.97633404261139 partial success avg 0.84 dist 0.36 time: 0.451269 seconds success eps: 0.23645373672108866 game: 1921 reward: 197.50936335176914 average score for the last 100 games: 49.191890129099555 partial success avg 0.84 dist 0.36 time: 0.00795 seconds success eps: 0.23621728298436756 game: 1922 reward: 145.60894652648875 average score for the last 100 games: 49.07888035259596 partial success avg 0.84 dist 0.36 time: 0.061335 seconds success eps: 0.2359810657013832 game: 1923 reward: 107.6016359315933 average score for the last 100 games: 50.096873596823905 partial success avg 0.84 dist 0.36 time: 0.088373 seconds success eps: 0.2357450846356818 game: 1924 reward: 125.90555330043941 average score for the last 100 games: 50.13384476520162 partial success avg 0.84 dist 0.36 time: 0.076952 seconds success eps: 0.23550933955104614 game: 1925 reward: 136.42394846902437 average score for the last 100 games: 49.706795243028026 partial success avg 0.84 dist 0.36 time: 0.060834 seconds success eps: 0.2352738302114951 game: 1926 reward: 80.67891600942094 average score for the last 100 games: 49.54313904298209 partial success avg 0.84 dist 0.36 time: 0.099379 seconds success eps: 0.2350385563812836 game: 1927 reward: 197.17155619721427 average score for the last 100 games: 54.65568270087217 partial success avg 0.85 dist 0.36 time: 0.007683 seconds success eps: 0.2348035178249023 game: 1928 reward: 194.48281522808733 average score for the last 100 games: 54.93407448359004 partial success avg 0.85 dist 0.36 time: 0.016382 seconds success eps: 0.2345687143070774 game: 1929 reward: -29.956060484427212 average score for the last 100 games: 52.6904454401169 partial success avg 0.85 dist 0.36 time: 0.138919 seconds success eps: 0.23433414559277033 game: 1930 reward: 181.4017998474508 average score for the last 100 games: 53.08189301937649 partial success avg 0.85 dist 0.36 time: 0.028706 seconds success eps: 0.23409981144717756 game: 1931 reward: 128.4405661417141 average score for the last 100 games: 52.97179034762598 partial success avg 0.85 dist 0.36 time: 0.062762 seconds success eps: 0.2338657116357304 game: 1932 reward: -20.052913171294392 average score for the last 100 games: 51.83644804490803 partial success avg 0.85 dist 0.36 time: 0.201393 seconds success eps: 0.23363184592409467 game: 1933 reward: 176.1074341756231 average score for the last 100 games: 57.24353347141571 partial success avg 0.86 dist 0.36 time: 0.041251 seconds success eps: 0.23339821407817057 game: 1934 reward: 151.1795926817295 average score for the last 100 games: 58.7598656672952 partial success avg 0.86 dist 0.36 time: 0.055436 seconds success eps: 0.2331648158640924 game: 1935 reward: 159.30028925308224 average score for the last 100 games: 59.5741086094915 partial success avg 0.86 dist 0.36 time: 0.067523 seconds success eps: 0.2329316510482283 game: 1936 reward: 110.65224274625523 average score for the last 100 games: 59.039495112602 partial success avg 0.86 dist 0.36 time: 0.163629 seconds success eps: 0.23269871939718006 game: 1937 reward: 152.0365281532181 average score for the last 100 games: 60.53430441544212 partial success avg 0.86 dist 0.36 time: 0.091524 seconds success eps: 0.23246602067778288 game: 1938 reward: 171.65411349013286 average score for the last 100 games: 60.98251687018799 partial success avg 0.86 dist 0.36 time: 0.042052 seconds success eps: 0.2322335546571051 game: 1939 reward: 10.147591429320784 average score for the last 100 games: 60.78110078345962 partial success avg 0.86 dist 0.36 time: 0.270697 seconds success eps: 0.232001321102448 game: 1940 reward: 110.77793368147924 average score for the last 100 games: 60.17002811477717 partial success avg 0.86 dist 0.36 time: 0.093092 seconds success eps: 0.23176931978134555 game: 1941 reward: 116.62697605796058 average score for the last 100 games: 59.52546299226376 partial success avg 0.86 dist 0.36 time: 0.074494 seconds success eps: 0.2315375504615642 game: 1942 reward: -62.06956294868604 average score for the last 100 games: 57.565830400261866 partial success avg 0.86 dist 0.36 time: 0.289171 seconds success eps: 0.23130601291110264 game: 1943 reward: 129.06972183679972 average score for the last 100 games: 59.07957298322461 partial success avg 0.86 dist 0.36 time: 0.130662 seconds success eps: 0.23107470689819154 game: 1944 reward: 165.32035378607202 average score for the last 100 games: 59.132963755976164 partial success avg 0.86 dist 0.36 time: 0.041992 seconds success eps: 0.23084363219129334 game: 1945 reward: 106.36055919168938 average score for the last 100 games: 59.324701454027384 partial success avg 0.86 dist 0.36 time: 0.105704 seconds success eps: 0.23061278855910206 game: 1946 reward: 29.93924340057862 average score for the last 100 games: 58.25335144880916 partial success avg 0.86 dist 0.36 time: 0.177072 seconds eps: 0.23038217577054296 game: 1947 reward: -260.88088902906037 average score for the last 100 games: 55.2700425719464 partial success avg 0.85 dist 0.36 time: 0.468893 seconds eps: 0.23015179359477242 game: 1948 reward: -240.3359941766085 average score for the last 100 games: 55.50337738061058 partial success avg 0.85 dist 0.36 time: 0.4633 seconds success eps: 0.22992164180117763 game: 1949 reward: 163.5766442695724 average score for the last 100 games: 56.1970602129383 partial success avg 0.85 dist 0.36 time: 0.040673 seconds eps: 0.22969172015937644 game: 1950 reward: -293.72732544511604 average score for the last 100 games: 52.74911365028274 partial success avg 0.84 dist 0.36 time: 0.396418 seconds success eps: 0.22946202843921706 game: 1951 reward: 14.738520872227383 average score for the last 100 games: 52.162418434953594 partial success avg 0.84 dist 0.36 time: 0.227802 seconds eps: 0.22923256641077785 game: 1952 reward: -286.73034748075463 average score for the last 100 games: 48.180043815938724 partial success avg 0.83 dist 0.36 time: 0.454237 seconds success eps: 0.22900333384436708 game: 1953 reward: 181.0729274593683 average score for the last 100 games: 49.372565276721744 partial success avg 0.83 dist 0.36 time: 0.041113 seconds success eps: 0.2287743305105227 game: 1954 reward: 140.16928747808996 average score for the last 100 games: 49.10497775855717 partial success avg 0.83 dist 0.36 time: 0.069053 seconds eps: 0.22854555618001218 game: 1955 reward: -309.57201582588806 average score for the last 100 games: 44.074273025000686 partial success avg 0.82 dist 0.36 time: 0.43238 seconds success eps: 0.22831701062383217 game: 1956 reward: 173.24467246882625 average score for the last 100 games: 45.55817895094033 partial success avg 0.82 dist 0.36 time: 0.051566 seconds success eps: 0.22808869361320833 game: 1957 reward: 174.6989548479695 average score for the last 100 games: 45.788698294561875 partial success avg 0.82 dist 0.36 time: 0.034851 seconds success eps: 0.22786060491959512 game: 1958 reward: 9.434512872423625 average score for the last 100 games: 49.06484365937004 partial success avg 0.83 dist 0.36 time: 0.143934 seconds success eps: 0.22763274431467553 game: 1959 reward: 181.04667407985022 average score for the last 100 games: 50.971754062869174 partial success avg 0.83 dist 0.36 time: 0.039721 seconds eps: 0.22740511157036086 game: 1960 reward: -354.40693540017713 average score for the last 100 games: 46.85698280384522 partial success avg 0.82 dist 0.36 time: 0.402841 seconds success eps: 0.2271777064587905 game: 1961 reward: 184.27966786843783 average score for the last 100 games: 47.93534763133829 partial success avg 0.82 dist 0.36 time: 0.033912 seconds success eps: 0.2269505287523317 game: 1962 reward: 13.024552291325023 average score for the last 100 games: 50.77085869548992 partial success avg 0.83 dist 0.36 time: 0.155093 seconds success eps: 0.2267235782235794 game: 1963 reward: 164.4280830246204 average score for the last 100 games: 51.99889624575602 partial success avg 0.83 dist 0.36 time: 0.069223 seconds success eps: 0.2264968546453558 game: 1964 reward: -127.9745744368916 average score for the last 100 games: 48.83263896152022 partial success avg 0.83 dist 0.36 time: 0.234249 seconds success eps: 0.22627035779071045 game: 1965 reward: 46.85987975945244 average score for the last 100 games: 47.53697057484863 partial success avg 0.83 dist 0.36 time: 0.105496 seconds success eps: 0.22604408743291973 game: 1966 reward: 191.31720289853195 average score for the last 100 games: 48.771774564386604 partial success avg 0.83 dist 0.36 time: 0.020779 seconds success eps: 0.2258180433454868 game: 1967 reward: 57.0210563419073 average score for the last 100 games: 48.02709762411125 partial success avg 0.83 dist 0.36 time: 0.105147 seconds success eps: 0.22559222530214132 game: 1968 reward: 62.27971916592142 average score for the last 100 games: 47.90833927861618 partial success avg 0.83 dist 0.36 time: 0.099457 seconds success eps: 0.22536663307683918 game: 1969 reward: 154.05752116169677 average score for the last 100 games: 48.10997275976147 partial success avg 0.83 dist 0.36 time: 0.090485 seconds success eps: 0.22514126644376234 game: 1970 reward: 148.2611318915078 average score for the last 100 games: 52.11139131266974 partial success avg 0.84 dist 0.36 time: 0.109129 seconds eps: 0.22491612517731857 game: 1971 reward: -243.85688605106992 average score for the last 100 games: 49.33243887909889 partial success avg 0.83 dist 0.36 time: 0.465575 seconds success eps: 0.22469120905214124 game: 1972 reward: 193.477919006026 average score for the last 100 games: 50.43199508749012 partial success avg 0.83 dist 0.36 time: 0.014842 seconds success eps: 0.2244665178430891 game: 1973 reward: 186.1302446663178 average score for the last 100 games: 50.97853095561388 partial success avg 0.83 dist 0.36 time: 0.02794 seconds success eps: 0.22424205132524602 game: 1974 reward: 132.25979782479027 average score for the last 100 games: 55.82181117449622 partial success avg 0.84 dist 0.36 time: 0.061622 seconds success eps: 0.2240178092739208 game: 1975 reward: 173.6585743896241 average score for the last 100 games: 55.77073236163278 partial success avg 0.84 dist 0.36 time: 0.053918 seconds success eps: 0.22379379146464687 game: 1976 reward: 187.90768571055403 average score for the last 100 games: 59.95627501804646 partial success avg 0.85 dist 0.36 time: 0.029 seconds success eps: 0.22356999767318222 game: 1977 reward: 154.7143255370666 average score for the last 100 games: 60.74632108805496 partial success avg 0.85 dist 0.36 time: 0.069363 seconds success eps: 0.22334642767550905 game: 1978 reward: 141.27875108304585 average score for the last 100 games: 61.16381706127598 partial success avg 0.85 dist 0.36 time: 0.057193 seconds success eps: 0.22312308124783353 game: 1979 reward: -7.941596374008043 average score for the last 100 games: 63.73892736446367 partial success avg 0.86 dist 0.36 time: 0.179798 seconds eps: 0.2228999581665857 game: 1980 reward: -293.4972340300871 average score for the last 100 games: 59.00858926028269 partial success avg 0.85 dist 0.36 time: 0.397526 seconds success eps: 0.22267705820841913 game: 1981 reward: 181.61952772191083 average score for the last 100 games: 63.87899307479636 partial success avg 0.86 dist 0.36 time: 0.035931 seconds success eps: 0.2224543811502107 game: 1982 reward: 52.95415017439862 average score for the last 100 games: 62.72974519767295 partial success avg 0.86 dist 0.36 time: 0.111198 seconds success eps: 0.2222319267690605 game: 1983 reward: 93.06695073262915 average score for the last 100 games: 61.84325558825517 partial success avg 0.86 dist 0.36 time: 0.129225 seconds success eps: 0.22200969484229144 game: 1984 reward: 194.24938005502207 average score for the last 100 games: 62.079467524269376 partial success avg 0.86 dist 0.36 time: 0.015196 seconds eps: 0.22178768514744915 game: 1985 reward: -300.9042766194041 average score for the last 100 games: 57.475845791585215 partial success avg 0.85 dist 0.36 time: 0.386985 seconds success eps: 0.2215658974623017 game: 1986 reward: 190.47555116394446 average score for the last 100 games: 59.76958553071954 partial success avg 0.85 dist 0.36 time: 0.02096 seconds success eps: 0.2213443315648394 game: 1987 reward: 165.81701735817413 average score for the last 100 games: 59.66962676599617 partial success avg 0.85 dist 0.36 time: 0.046488 seconds success eps: 0.22112298723327456 game: 1988 reward: 15.433286473928433 average score for the last 100 games: 58.40990837398919 partial success avg 0.85 dist 0.36 time: 0.226982 seconds success eps: 0.22090186424604127 game: 1989 reward: 167.91632929387643 average score for the last 100 games: 62.76495887647154 partial success avg 0.86 dist 0.36 time: 0.065743 seconds success eps: 0.22068096238179524 game: 1990 reward: 52.86876212210984 average score for the last 100 games: 61.559443702757626 partial success avg 0.86 dist 0.36 time: 0.105474 seconds success eps: 0.22046028141941346 game: 1991 reward: 171.62294799078708 average score for the last 100 games: 62.03063435922383 partial success avg 0.86 dist 0.36 time: 0.045042 seconds success eps: 0.22023982113799404 game: 1992 reward: 124.25725811865438 average score for the last 100 games: 62.49626315824571 partial success avg 0.86 dist 0.36 time: 0.072647 seconds success eps: 0.22001958131685603 game: 1993 reward: 162.0901353869562 average score for the last 100 games: 62.40288806367197 partial success avg 0.86 dist 0.36 time: 0.073904 seconds success eps: 0.2197995617355392 game: 1994 reward: 153.3019344013053 average score for the last 100 games: 64.64975464163034 partial success avg 0.86 dist 0.36 time: 0.05163 seconds eps: 0.21957976217380365 game: 1995 reward: -276.02672081249347 average score for the last 100 games: 64.83593327812106 partial success avg 0.86 dist 0.36 time: 0.407637 seconds success eps: 0.21936018241162986 game: 1996 reward: 178.49914654572174 average score for the last 100 games: 64.95369083822105 partial success avg 0.86 dist 0.36 time: 0.070857 seconds success eps: 0.2191408222292182 game: 1997 reward: 167.76122122334962 average score for the last 100 games: 65.52815365404548 partial success avg 0.86 dist 0.36 time: 0.040388 seconds success eps: 0.218921681406989 game: 1998 reward: 130.95959529347664 average score for the last 100 games: 69.68778501343284 partial success avg 0.87 dist 0.36 time: 0.134316 seconds eps: 0.218702759725582 game: 1999 reward: -299.1572722106054 average score for the last 100 games: 65.14887647385784 partial success avg 0.86 dist 0.36 time: 0.448511 seconds success
eps: 0.21848405696585643 game: 2000 reward: 197.28240906396917 average score for the last 100 games: 67.53967536750295 partial success avg 0.86 dist 0.36 time: 0.64966 seconds success eps: 0.21826557290889056 game: 2001 reward: 187.95213146899505 average score for the last 100 games: 67.76567030644831 partial success avg 0.86 dist 0.36 time: 0.029045 seconds success eps: 0.21804730733598168 game: 2002 reward: 153.58976391235305 average score for the last 100 games: 67.3234786769891 partial success avg 0.86 dist 0.36 time: 0.048744 seconds success eps: 0.2178292600286457 game: 2003 reward: 45.57001275534631 average score for the last 100 games: 66.77206290638661 partial success avg 0.86 dist 0.36 time: 0.108119 seconds success eps: 0.21761143076861705 game: 2004 reward: 152.77225464353452 average score for the last 100 games: 66.65606624632605 partial success avg 0.86 dist 0.36 time: 0.078568 seconds success eps: 0.21739381933784843 game: 2005 reward: 168.40201364264243 average score for the last 100 games: 68.02438017607298 partial success avg 0.86 dist 0.36 time: 0.057058 seconds eps: 0.21717642551851057 game: 2006 reward: -179.3895620527802 average score for the last 100 games: 64.5917936878997 partial success avg 0.85 dist 0.36 time: 0.464508 seconds success eps: 0.21695924909299205 game: 2007 reward: 5.061883205372794 average score for the last 100 games: 62.99370553008934 partial success avg 0.85 dist 0.36 time: 0.115596 seconds success eps: 0.21674228984389907 game: 2008 reward: 51.6210540631935 average score for the last 100 games: 61.657813513341246 partial success avg 0.85 dist 0.36 time: 0.129848 seconds eps: 0.21652554755405518 game: 2009 reward: -279.45710432527056 average score for the last 100 games: 57.319737280109074 partial success avg 0.84 dist 0.36 time: 0.458567 seconds success eps: 0.21630902200650112 game: 2010 reward: 130.3221004238104 average score for the last 100 games: 59.58032997969768 partial success avg 0.84 dist 0.36 time: 0.112547 seconds success eps: 0.21609271298449462 game: 2011 reward: 48.474407574288136 average score for the last 100 games: 62.82866367927032 partial success avg 0.85 dist 0.36 time: 0.168644 seconds eps: 0.2158766202715101 game: 2012 reward: -269.87794296067284 average score for the last 100 games: 58.69421265593583 partial success avg 0.84 dist 0.36 time: 0.451946 seconds success eps: 0.2156607436512386 game: 2013 reward: 157.76936096023556 average score for the last 100 games: 63.22604664296496 partial success avg 0.85 dist 0.36 time: 0.089235 seconds success eps: 0.21544508290758738 game: 2014 reward: 166.77973108285232 average score for the last 100 games: 63.29926909465696 partial success avg 0.85 dist 0.36 time: 0.044831 seconds success eps: 0.2152296378246798 game: 2015 reward: 166.823939465858 average score for the last 100 games: 63.372497242858934 partial success avg 0.85 dist 0.36 time: 0.041763 seconds success eps: 0.2150144081868551 game: 2016 reward: 193.59519209159166 average score for the last 100 games: 63.722826886824436 partial success avg 0.85 dist 0.36 time: 0.014811 seconds success eps: 0.21479939377866825 game: 2017 reward: 166.40394860889327 average score for the last 100 games: 63.412802756704124 partial success avg 0.85 dist 0.36 time: 0.041473 seconds success eps: 0.21458459438488958 game: 2018 reward: 176.28936780757465 average score for the last 100 games: 63.58568424601878 partial success avg 0.85 dist 0.36 time: 0.047408 seconds success eps: 0.2143700097905047 game: 2019 reward: 18.50114236278074 average score for the last 100 games: 62.582576541234914 partial success avg 0.85 dist 0.36 time: 0.157322 seconds success eps: 0.2141556397807142 game: 2020 reward: 113.22682037409201 average score for the last 100 games: 66.80851501584631 partial success avg 0.86 dist 0.36 time: 0.105564 seconds eps: 0.21394148414093347 game: 2021 reward: -328.92339751372947 average score for the last 100 games: 61.54418740719132 partial success avg 0.85 dist 0.36 time: 0.412497 seconds success eps: 0.21372754265679253 game: 2022 reward: 27.547022353993526 average score for the last 100 games: 60.36356816546637 partial success avg 0.85 dist 0.36 time: 0.13696 seconds eps: 0.21351381511413572 game: 2023 reward: -323.49558975245543 average score for the last 100 games: 56.05259590862588 partial success avg 0.84 dist 0.36 time: 0.48757 seconds success eps: 0.21330030129902158 game: 2024 reward: 173.01374230894749 average score for the last 100 games: 56.52367779871096 partial success avg 0.84 dist 0.36 time: 0.057251 seconds eps: 0.21308700099772257 game: 2025 reward: -303.79376602876005 average score for the last 100 games: 52.12150065373312 partial success avg 0.83 dist 0.36 time: 0.425561 seconds success eps: 0.21287391399672484 game: 2026 reward: 161.3721824557594 average score for the last 100 games: 52.928433318196504 partial success avg 0.83 dist 0.36 time: 0.075546 seconds success eps: 0.21266104008272813 game: 2027 reward: 100.41914545910339 average score for the last 100 games: 51.9609092108154 partial success avg 0.83 dist 0.36 time: 0.297372 seconds success eps: 0.2124483790426454 game: 2028 reward: 183.7307968406828 average score for the last 100 games: 51.85338902694136 partial success avg 0.83 dist 0.36 time: 0.02785 seconds success eps: 0.21223593066360277 game: 2029 reward: 158.6450513779087 average score for the last 100 games: 53.739400145564716 partial success avg 0.83 dist 0.36 time: 0.068554 seconds success eps: 0.21202369473293917 game: 2030 reward: 139.95609893559583 average score for the last 100 games: 53.324943136446166 partial success avg 0.83 dist 0.36 time: 0.106202 seconds success eps: 0.21181167103820622 game: 2031 reward: 1.1458567552774923 average score for the last 100 games: 52.0519960425818 partial success avg 0.83 dist 0.36 time: 0.12117 seconds success eps: 0.21159985936716802 game: 2032 reward: 152.18890332537435 average score for the last 100 games: 53.77441420754848 partial success avg 0.83 dist 0.36 time: 0.056932 seconds success eps: 0.21138825950780085 game: 2033 reward: 153.27138955270306 average score for the last 100 games: 53.54605376131927 partial success avg 0.83 dist 0.36 time: 0.049182 seconds success eps: 0.21117687124829304 game: 2034 reward: 19.146297240609613 average score for the last 100 games: 52.22572080690807 partial success avg 0.83 dist 0.36 time: 0.311003 seconds success eps: 0.21096569437704474 game: 2035 reward: 93.74306928228728 average score for the last 100 games: 51.570148607200125 partial success avg 0.83 dist 0.36 time: 0.103262 seconds success eps: 0.2107547286826677 game: 2036 reward: 176.2788806552349 average score for the last 100 games: 52.22641498628992 partial success avg 0.83 dist 0.36 time: 0.048268 seconds success eps: 0.21054397395398503 game: 2037 reward: 146.68161941354086 average score for the last 100 games: 52.17286589889315 partial success avg 0.83 dist 0.36 time: 0.085239 seconds eps: 0.21033342998003104 game: 2038 reward: -369.45058283104714 average score for the last 100 games: 46.76181893568135 partial success avg 0.82 dist 0.36 time: 0.434766 seconds success eps: 0.21012309655005101 game: 2039 reward: 157.2614490315919 average score for the last 100 games: 48.23295751170405 partial success avg 0.82 dist 0.36 time: 0.070717 seconds success eps: 0.20991297345350096 game: 2040 reward: 106.89098217548536 average score for the last 100 games: 48.194087996644114 partial success avg 0.82 dist 0.36 time: 0.086272 seconds success eps: 0.20970306048004747 game: 2041 reward: 123.50639226079316 average score for the last 100 games: 48.26288215867244 partial success avg 0.82 dist 0.36 time: 0.082531 seconds success eps: 0.20949335741956743 game: 2042 reward: 197.49083040547407 average score for the last 100 games: 50.85848609221405 partial success avg 0.82 dist 0.36 time: 0.008438 seconds success eps: 0.20928386406214786 game: 2043 reward: 160.6436316034639 average score for the last 100 games: 51.17422518988069 partial success avg 0.82 dist 0.36 time: 0.069055 seconds success eps: 0.2090745801980857 game: 2044 reward: 93.4103212266528 average score for the last 100 games: 50.455124864286496 partial success avg 0.82 dist 0.36 time: 0.118102 seconds success eps: 0.2088655056178876 game: 2045 reward: 194.03595461488823 average score for the last 100 games: 51.33187881851849 partial success avg 0.82 dist 0.36 time: 0.014312 seconds success eps: 0.20865664011226973 game: 2046 reward: 168.81555022468675 average score for the last 100 games: 52.720641886759566 partial success avg 0.82 dist 0.36 time: 0.041324 seconds success eps: 0.20844798347215746 game: 2047 reward: 175.10948028899236 average score for the last 100 games: 57.08054557994008 partial success avg 0.83 dist 0.36 time: 0.034022 seconds eps: 0.2082395354886853 game: 2048 reward: -263.7697906097298 average score for the last 100 games: 56.846207615608876 partial success avg 0.83 dist 0.36 time: 0.451991 seconds success eps: 0.2080312959531966 game: 2049 reward: 138.35233631159988 average score for the last 100 games: 56.593964536029134 partial success avg 0.83 dist 0.36 time: 0.062072 seconds success eps: 0.2078232646572434 game: 2050 reward: 130.74839786307552 average score for the last 100 games: 60.838721769111054 partial success avg 0.84 dist 0.36 time: 0.072375 seconds success eps: 0.20761544139258617 game: 2051 reward: 116.49928330907585 average score for the last 100 games: 61.856329393479534 partial success avg 0.84 dist 0.36 time: 0.069346 seconds success eps: 0.2074078259511936 game: 2052 reward: 94.82016957097682 average score for the last 100 games: 65.67183456399685 partial success avg 0.85 dist 0.36 time: 0.097869 seconds success eps: 0.2072004181252424 game: 2053 reward: 197.31009188538488 average score for the last 100 games: 65.83420620825703 partial success avg 0.85 dist 0.36 time: 0.007921 seconds success eps: 0.20699321770711715 game: 2054 reward: 100.78019559623296 average score for the last 100 games: 65.44031528943846 partial success avg 0.85 dist 0.36 time: 0.088281 seconds eps: 0.20678622448941003 game: 2055 reward: -295.6554812674601 average score for the last 100 games: 65.57948063502275 partial success avg 0.85 dist 0.36 time: 0.424381 seconds success eps: 0.20657943826492062 game: 2056 reward: 60.2767264329587 average score for the last 100 games: 64.44980117466407 partial success avg 0.85 dist 0.36 time: 0.134681 seconds success eps: 0.2063728588266557 game: 2057 reward: 144.1745381335312 average score for the last 100 games: 64.1445570075197 partial success avg 0.85 dist 0.36 time: 0.05586 seconds success eps: 0.20616648596782905 game: 2058 reward: 135.84396143637466 average score for the last 100 games: 65.40865149315918 partial success avg 0.85 dist 0.36 time: 0.07482 seconds success eps: 0.20596031948186122 game: 2059 reward: 175.93813044667687 average score for the last 100 games: 65.35756605682747 partial success avg 0.85 dist 0.36 time: 0.046461 seconds success eps: 0.20575435916237936 game: 2060 reward: 193.4129977753926 average score for the last 100 games: 70.83576538858316 partial success avg 0.86 dist 0.36 time: 0.01634 seconds success eps: 0.205548604803217 game: 2061 reward: 138.6953563615457 average score for the last 100 games: 70.37992227351424 partial success avg 0.86 dist 0.36 time: 0.066521 seconds success eps: 0.20534305619841378 game: 2062 reward: 130.70304099937516 average score for the last 100 games: 71.55670716059474 partial success avg 0.86 dist 0.36 time: 0.092546 seconds success eps: 0.20513771314221538 game: 2063 reward: 185.19652769073673 average score for the last 100 games: 71.7643916072559 partial success avg 0.86 dist 0.36 time: 0.03441 seconds success eps: 0.20493257542907317 game: 2064 reward: 190.72190823036792 average score for the last 100 games: 74.95135643392851 partial success avg 0.86 dist 0.36 time: 0.022612 seconds success eps: 0.2047276428536441 game: 2065 reward: 187.93115768573497 average score for the last 100 games: 76.36206921319132 partial success avg 0.86 dist 0.36 time: 0.027927 seconds success eps: 0.20452291521079044 game: 2066 reward: 9.048367185889077 average score for the last 100 games: 74.5393808560649 partial success avg 0.86 dist 0.36 time: 0.160548 seconds success eps: 0.20431839229557966 game: 2067 reward: 197.3300253030066 average score for the last 100 games: 75.9424705456759 partial success avg 0.86 dist 0.36 time: 0.007761 seconds success eps: 0.2041140739032841 game: 2068 reward: 128.28232752277611 average score for the last 100 games: 76.60249662924444 partial success avg 0.86 dist 0.36 time: 0.072339 seconds success eps: 0.20390995982938082 game: 2069 reward: 156.00060794829275 average score for the last 100 games: 76.6219274971104 partial success avg 0.86 dist 0.36 time: 0.091897 seconds success eps: 0.20370604986955143 game: 2070 reward: 197.17275200773463 average score for the last 100 games: 77.11104369827267 partial success avg 0.86 dist 0.36 time: 0.007961 seconds success eps: 0.20350234381968188 game: 2071 reward: 168.3973382700545 average score for the last 100 games: 81.23358594148391 partial success avg 0.87 dist 0.36 time: 0.066593 seconds success eps: 0.2032988414758622 game: 2072 reward: 167.93574426054442 average score for the last 100 games: 80.97816419402909 partial success avg 0.87 dist 0.36 time: 0.049208 seconds success eps: 0.20309554263438634 game: 2073 reward: 172.67239258955277 average score for the last 100 games: 80.84358567326144 partial success avg 0.87 dist 0.36 time: 0.04029 seconds success eps: 0.20289244709175194 game: 2074 reward: 10.918930261602242 average score for the last 100 games: 79.63017699762956 partial success avg 0.87 dist 0.36 time: 0.171472 seconds success eps: 0.20268955464466018 game: 2075 reward: 197.65795038835415 average score for the last 100 games: 79.87017075761686 partial success avg 0.87 dist 0.36 time: 0.008552 seconds success eps: 0.2024868650900155 game: 2076 reward: 95.1536847059496 average score for the last 100 games: 78.94263074757082 partial success avg 0.87 dist 0.36 time: 0.087598 seconds success eps: 0.20228437822492548 game: 2077 reward: 197.43102158073245 average score for the last 100 games: 79.36979770800747 partial success avg 0.87 dist 0.36 time: 0.009891 seconds eps: 0.20208209384670056 game: 2078 reward: -284.2196471461659 average score for the last 100 games: 75.11481372571536 partial success avg 0.86 dist 0.36 time: 0.442277 seconds eps: 0.20188001175285386 game: 2079 reward: -308.0720172928932 average score for the last 100 games: 72.1135095165265 partial success avg 0.85 dist 0.36 time: 0.432728 seconds success eps: 0.201678131741101 game: 2080 reward: 176.41112938122927 average score for the last 100 games: 76.81259315063967 partial success avg 0.86 dist 0.36 time: 0.043097 seconds success eps: 0.2014764536093599 game: 2081 reward: 97.77268517374239 average score for the last 100 games: 75.97412472515798 partial success avg 0.86 dist 0.36 time: 0.108971 seconds success eps: 0.20127497715575055 game: 2082 reward: 174.6006963321669 average score for the last 100 games: 77.19059018673568 partial success avg 0.86 dist 0.36 time: 0.045219 seconds success eps: 0.2010737021785948 game: 2083 reward: 91.21198363686246 average score for the last 100 games: 77.17204051577801 partial success avg 0.86 dist 0.36 time: 0.118214 seconds success eps: 0.2008726284764162 game: 2084 reward: 163.9519768985678 average score for the last 100 games: 76.86906648421345 partial success avg 0.86 dist 0.36 time: 0.056633 seconds eps: 0.20067175584793978 game: 2085 reward: -309.04304924553236 average score for the last 100 games: 76.78767875795216 partial success avg 0.86 dist 0.36 time: 0.435388 seconds success eps: 0.20047108409209183 game: 2086 reward: 181.62049828663467 average score for the last 100 games: 76.69912822917908 partial success avg 0.86 dist 0.36 time: 0.04444 seconds eps: 0.20027061300799973 game: 2087 reward: -310.17948765827 average score for the last 100 games: 71.93916317901463 partial success avg 0.85 dist 0.36 time: 0.436509 seconds success eps: 0.20007034239499172 game: 2088 reward: 127.72867791196433 average score for the last 100 games: 73.06211709339499 partial success avg 0.85 dist 0.36 time: 0.07833 seconds success eps: 0.19987027205259672 game: 2089 reward: 156.16499655292506 average score for the last 100 games: 72.94460376598548 partial success avg 0.85 dist 0.36 time: 0.062814 seconds success eps: 0.19967040178054413 game: 2090 reward: 96.85111797637659 average score for the last 100 games: 73.38442732452815 partial success avg 0.85 dist 0.36 time: 0.10214 seconds success eps: 0.1994707313787636 game: 2091 reward: 174.36601167106735 average score for the last 100 games: 73.41185796133094 partial success avg 0.85 dist 0.36 time: 0.033925 seconds success eps: 0.19927126064738482 game: 2092 reward: 172.69511151655846 average score for the last 100 games: 73.89623649530999 partial success avg 0.85 dist 0.36 time: 0.041011 seconds success eps: 0.19907198938673742 game: 2093 reward: 193.44549448679308 average score for the last 100 games: 74.20979008630836 partial success avg 0.85 dist 0.36 time: 0.014087 seconds success eps: 0.1988729173973507 game: 2094 reward: 79.54046150422114 average score for the last 100 games: 73.4721753573375 partial success avg 0.85 dist 0.36 time: 0.098735 seconds success eps: 0.19867404447995335 game: 2095 reward: 171.91227583341995 average score for the last 100 games: 77.95156532379664 partial success avg 0.86 dist 0.36 time: 0.073624 seconds success eps: 0.1984753704354734 game: 2096 reward: 80.47688837654691 average score for the last 100 games: 76.9713427421049 partial success avg 0.86 dist 0.36 time: 0.092429 seconds success eps: 0.19827689506503793 game: 2097 reward: 148.4313725040314 average score for the last 100 games: 76.7780442549117 partial success avg 0.86 dist 0.36 time: 0.05627 seconds eps: 0.19807861816997288 game: 2098 reward: -313.21454539735544 average score for the last 100 games: 72.3363028480034 partial success avg 0.85 dist 0.36 time: 0.476202 seconds success eps: 0.1978805395518029 game: 2099 reward: -86.58647828625439 average score for the last 100 games: 74.46201078724691 partial success avg 0.86 dist 0.36 time: 0.382562 seconds success eps: 0.1976826590122511 game: 2100 reward: 47.102602987593855 average score for the last 100 games: 72.96021272648315 partial success avg 0.86 dist 0.36 time: 0.171753 seconds success eps: 0.19748497635323886 game: 2101 reward: 155.36822002935975 average score for the last 100 games: 72.6343736120868 partial success avg 0.86 dist 0.36 time: 0.082956 seconds success eps: 0.19728749137688562 game: 2102 reward: 135.2992610349142 average score for the last 100 games: 72.4514685833124 partial success avg 0.86 dist 0.36 time: 0.063712 seconds success eps: 0.19709020388550874 game: 2103 reward: -25.406062499825225 average score for the last 100 games: 71.74170783076069 partial success avg 0.86 dist 0.36 time: 0.298117 seconds success eps: 0.19689311368162324 game: 2104 reward: -95.21336076170257 average score for the last 100 games: 69.26185167670832 partial success avg 0.86 dist 0.36 time: 0.207862 seconds success eps: 0.19669622056794162 game: 2105 reward: 142.8513829612479 average score for the last 100 games: 69.00634536989436 partial success avg 0.86 dist 0.36 time: 0.096581 seconds success eps: 0.19649952434737367 game: 2106 reward: 182.3386383756635 average score for the last 100 games: 72.62362737417881 partial success avg 0.87 dist 0.36 time: 0.027855 seconds success eps: 0.19630302482302628 game: 2107 reward: 194.39459345968666 average score for the last 100 games: 74.51695447672196 partial success avg 0.87 dist 0.36 time: 0.014367 seconds success eps: 0.19610672179820327 game: 2108 reward: 143.6575033883262 average score for the last 100 games: 75.43731896997329 partial success avg 0.87 dist 0.36 time: 0.064368 seconds success eps: 0.19591061507640506 game: 2109 reward: 164.57896430987117 average score for the last 100 games: 79.8776796563247 partial success avg 0.88 dist 0.36 time: 0.047926 seconds success eps: 0.19571470446132866 game: 2110 reward: 140.569694000953 average score for the last 100 games: 79.98015559209614 partial success avg 0.88 dist 0.36 time: 0.053663 seconds eps: 0.19551898975686732 game: 2111 reward: -270.53291904330416 average score for the last 100 games: 76.79008232592022 partial success avg 0.87 dist 0.36 time: 0.462474 seconds success eps: 0.19532347076711046 game: 2112 reward: 139.35683405669724 average score for the last 100 games: 80.88243009609393 partial success avg 0.88 dist 0.36 time: 0.114663 seconds success eps: 0.19512814729634334 game: 2113 reward: 159.37291124456394 average score for the last 100 games: 80.89846559893721 partial success avg 0.88 dist 0.36 time: 0.07802 seconds success eps: 0.194933019149047 game: 2114 reward: 153.02950343788356 average score for the last 100 games: 80.7609633224875 partial success avg 0.88 dist 0.36 time: 0.093189 seconds success eps: 0.19473808612989796 game: 2115 reward: 197.35533606552428 average score for the last 100 games: 81.06627728848417 partial success avg 0.88 dist 0.36 time: 0.008527 seconds success eps: 0.19454334804376805 game: 2116 reward: 74.93599157245113 average score for the last 100 games: 79.87968528329276 partial success avg 0.88 dist 0.36 time: 0.098098 seconds success eps: 0.19434880469572427 game: 2117 reward: 181.47370381322276 average score for the last 100 games: 80.03038283533606 partial success avg 0.88 dist 0.36 time: 0.040584 seconds success eps: 0.19415445589102853 game: 2118 reward: 92.29571736101508 average score for the last 100 games: 79.19044633087046 partial success avg 0.88 dist 0.36 time: 0.089724 seconds success eps: 0.1939603014351375 game: 2119 reward: 33.94792754700006 average score for the last 100 games: 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reward: 27.526029156537078 average score for the last 100 games: 56.36939883824345 partial success avg 0.81 dist 0.15 time: 0.124646 seconds eps: 0.0802751969886226 game: 6552 reward: -274.89648906285703 average score for the last 100 games: 52.09317730735124 partial success avg 0.80 dist 0.15 time: 0.419394 seconds success eps: 0.08019492179163397 game: 6553 reward: 26.332377613921807 average score for the last 100 games: 51.84540936382496 partial success avg 0.80 dist 0.15 time: 0.13117 seconds success eps: 0.08011472686984233 game: 6554 reward: 28.45541581182991 average score for the last 100 games: 50.80763285971368 partial success avg 0.80 dist 0.15 time: 0.174209 seconds success eps: 0.08003461214297249 game: 6555 reward: 192.27117632354953 average score for the last 100 games: 50.78184109466556 partial success avg 0.80 dist 0.15 time: 0.020552 seconds eps: 0.07995457753082952 game: 6556 reward: -165.4139226945535 average score for the last 100 games: 47.45269936449762 partial 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0.121261 seconds success eps: 0.01 game: 8780 reward: 27.777240877461765 average score for the last 100 games: 56.188409481552696 partial success avg 0.77 dist 0.15 time: 0.108173 seconds success eps: 0.01 game: 8781 reward: 172.53698953332108 average score for the last 100 games: 56.557816893419684 partial success avg 0.77 dist 0.15 time: 0.047457 seconds success eps: 0.01 game: 8782 reward: 164.8679866933297 average score for the last 100 games: 56.48466808098719 partial success avg 0.77 dist 0.15 time: 0.06788 seconds success eps: 0.01 game: 8783 reward: 145.93445069498227 average score for the last 100 games: 59.57105814241357 partial success avg 0.78 dist 0.15 time: 0.125296 seconds success eps: 0.01 game: 8784 reward: 167.7503095272213 average score for the last 100 games: 59.347723614296164 partial success avg 0.78 dist 0.15 time: 0.075804 seconds success eps: 0.01 game: 8785 reward: 114.55013147152944 average score for the last 100 games: 59.46838276159234 partial success avg 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reward: 136.75230843693706 average score for the last 100 games: 18.750271637697267 partial success avg 0.69 dist 0.12 time: 0.142746 seconds eps: 0.03810151181861257 game: 12020 reward: -145.69883993642068 average score for the last 100 games: 16.603643310611357 partial success avg 0.68 dist 0.12 time: 0.427898 seconds success eps: 0.03806341030679396 game: 12021 reward: 111.56641000070229 average score for the last 100 games: 19.258470049884664 partial success avg 0.69 dist 0.12 time: 0.236158 seconds success eps: 0.038025346896487164 game: 12022 reward: 68.6848565619722 average score for the last 100 games: 18.417040239242784 partial success avg 0.69 dist 0.12 time: 0.089335 seconds success eps: 0.037987321549590676 game: 12023 reward: 84.55206919433762 average score for the last 100 games: 17.446847842847884 partial success avg 0.69 dist 0.12 time: 0.098864 seconds success eps: 0.03794933422804109 game: 12024 reward: 135.85160111368867 average score for the last 100 games: 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152.80494714268607 average score for the last 100 games: 48.61652740425035 partial success avg 0.76 dist 0.09 time: 0.138058 seconds success eps: 0.027250894598509236 game: 20114 reward: 138.8379589267022 average score for the last 100 games: 48.413945776836755 partial success avg 0.76 dist 0.09 time: 0.198943 seconds success eps: 0.027223643703910727 game: 20115 reward: 108.80553994854259 average score for the last 100 games: 48.06578056274783 partial success avg 0.76 dist 0.09 time: 0.082772 seconds success eps: 0.027196420060206818 game: 20116 reward: 152.05665377376226 average score for the last 100 games: 47.84466138665869 partial success avg 0.76 dist 0.09 time: 0.055229 seconds success eps: 0.027169223640146612 game: 20117 reward: 106.84925033205745 average score for the last 100 games: 47.39399659133593 partial success avg 0.76 dist 0.09 time: 0.081431 seconds success eps: 0.027142054416506467 game: 20118 reward: 159.1832534238909 average score for the last 100 games: 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100 games: 58.363073004869584 partial success avg 0.79 dist 0.09 time: 0.156636 seconds success eps: 0.01 game: 29891 reward: 178.34225117455074 average score for the last 100 games: 58.336219198728585 partial success avg 0.79 dist 0.09 time: 0.046244 seconds success eps: 0.01 game: 29892 reward: 131.73085551901573 average score for the last 100 games: 58.08791231200344 partial success avg 0.79 dist 0.09 time: 0.059201 seconds success eps: 0.01 game: 29893 reward: 103.90566360332146 average score for the last 100 games: 60.34574316606805 partial success avg 0.80 dist 0.09 time: 0.273493 seconds success eps: 0.01 game: 29894 reward: 75.73239820299786 average score for the last 100 games: 60.43132839612122 partial success avg 0.80 dist 0.09 time: 0.365292 seconds success eps: 0.01 game: 29895 reward: 78.9386336914697 average score for the last 100 games: 60.31925314278211 partial success avg 0.80 dist 0.09 time: 0.107998 seconds success eps: 0.01 game: 29896 reward: 177.62009040190847 average score for the last 100 games: 60.46479902451633 partial success avg 0.80 dist 0.09 time: 0.053968 seconds success eps: 0.01 game: 29897 reward: 167.48838126691996 average score for the last 100 games: 63.824438208960835 partial success avg 0.81 dist 0.09 time: 0.075917 seconds success eps: 0.01 game: 29898 reward: 92.8727524718274 average score for the last 100 games: 63.26437109210309 partial success avg 0.81 dist 0.09 time: 0.108227 seconds eps: 0.01 game: 29899 reward: -149.4179297492446 average score for the last 100 games: 61.65903817565072 partial success avg 0.80 dist 0.09 time: 0.365634 seconds success eps: 0.01 game: 29900 reward: 174.81162204289328 average score for the last 100 games: 65.21058123695968 partial success avg 0.81 dist 0.09 time: 0.06617 seconds success eps: 0.01 game: 29901 reward: 177.00804436656577 average score for the last 100 games: 66.34252602132918 partial success avg 0.81 dist 0.09 time: 0.042404 seconds success eps: 0.01 game: 29902 reward: 119.09254922185328 average score for the last 100 games: 69.52393308554791 partial success avg 0.82 dist 0.09 time: 0.081509 seconds success eps: 0.01 game: 29903 reward: 182.06867545020876 average score for the last 100 games: 70.48846069869863 partial success avg 0.82 dist 0.09 time: 0.0456 seconds success eps: 0.01 game: 29904 reward: 152.58333574991775 average score for the last 100 games: 74.32710962343401 partial success avg 0.83 dist 0.09 time: 0.077798 seconds success eps: 0.01 game: 29905 reward: 179.18171058616073 average score for the last 100 games: 74.53653395993607 partial success avg 0.83 dist 0.09 time: 0.033425 seconds success eps: 0.01 game: 29906 reward: 106.56667226138896 average score for the last 100 games: 74.07645879417534 partial success avg 0.83 dist 0.09 time: 0.117931 seconds success eps: 0.01 game: 29907 reward: 156.02595023887372 average score for the last 100 games: 75.24391810497711 partial success avg 0.83 dist 0.09 time: 0.164413 seconds success eps: 0.01 game: 29908 reward: 177.81820259147887 average score for the last 100 games: 78.40944839442056 partial success avg 0.84 dist 0.09 time: 0.054195 seconds success eps: 0.01 game: 29909 reward: 158.83979238360058 average score for the last 100 games: 78.99761776461101 partial success avg 0.84 dist 0.09 time: 0.092431 seconds success eps: 0.01 game: 29910 reward: 87.35225154481363 average score for the last 100 games: 81.17484312701121 partial success avg 0.85 dist 0.09 time: 0.100846 seconds success eps: 0.01 game: 29911 reward: 164.24286114965963 average score for the last 100 games: 83.03088929495985 partial success avg 0.85 dist 0.09 time: 0.082095 seconds success eps: 0.01 game: 29912 reward: 169.83170809372274 average score for the last 100 games: 86.41539146400385 partial success avg 0.86 dist 0.09 time: 0.073179 seconds success eps: 0.01 game: 29913 reward: 131.2116524361633 average score for the last 100 games: 89.25213615262297 partial success avg 0.87 dist 0.09 time: 0.068802 seconds success eps: 0.01 game: 29914 reward: 169.72786019629092 average score for the last 100 games: 92.980751376404 partial success avg 0.88 dist 0.09 time: 0.045325 seconds success eps: 0.01 game: 29915 reward: 85.41260341249826 average score for the last 100 games: 92.67533975779226 partial success avg 0.88 dist 0.09 time: 0.087917 seconds success eps: 0.01 game: 29916 reward: 139.94977432715964 average score for the last 100 games: 96.39710618855278 partial success avg 0.89 dist 0.09 time: 0.113105 seconds eps: 0.01 game: 29917 reward: -149.9382401530705 average score for the last 100 games: 93.14871418131297 partial success avg 0.88 dist 0.09 time: 0.538568 seconds success eps: 0.01 game: 29918 reward: 2.317429247759918 average score for the last 100 games: 94.92339444545728 partial success avg 0.89 dist 0.09 time: 0.214151 seconds success eps: 0.01 game: 29919 reward: 171.24461763764862 average score for the last 100 games: 95.52519509636386 partial success avg 0.89 dist 0.09 time: 0.039474 seconds success eps: 0.01 game: 29920 reward: 15.565682526862503 average score for the last 100 games: 97.45426034723206 partial success avg 0.90 dist 0.09 time: 0.38853 seconds success NEXT LEVEL eps: 0.21000000000000002 game: 29921 reward: 149.36018059119186 average score for the last 100 games: 101.34188066407623 partial success avg nan dist 0.08 time: 0.075789 seconds success eps: 0.20979000000000003 game: 29922 reward: 145.50356815963085 average score for the last 100 games: 102.2849140669738 partial success avg 1.00 dist 0.08 time: 0.085644 seconds eps: 0.20958021000000004 game: 29923 reward: -143.75045236835783 average score for the last 100 games: 99.17385365807272 partial success avg 0.50 dist 0.08 time: 0.389435 seconds success eps: 0.20937062979000004 game: 29924 reward: 161.12725367897235 average score for the last 100 games: 98.901027643376 partial success avg 0.67 dist 0.08 time: 0.090945 seconds success eps: 0.20916125916021003 game: 29925 reward: 176.99433264314368 average score for the last 100 games: 98.8808000337565 partial success avg 0.75 dist 0.08 time: 0.058514 seconds eps: 0.20895209790104982 game: 29926 reward: -135.8305178456528 average score for the last 100 games: 97.35541442399003 partial success avg 0.60 dist 0.08 time: 0.383315 seconds success eps: 0.20874314580314876 game: 29927 reward: 23.478775909234486 average score for the last 100 games: 96.73639775562235 partial success avg 0.67 dist 0.08 time: 0.130068 seconds success eps: 0.2085344026573456 game: 29928 reward: 43.541403852016884 average score for the last 100 games: 95.97454776995883 partial success avg 0.71 dist 0.08 time: 0.274439 seconds success eps: 0.20832586825468827 game: 29929 reward: -21.931280954198456 average score for the last 100 games: 95.42154375734737 partial success avg 0.75 dist 0.08 time: 0.183138 seconds eps: 0.20811754238643357 game: 29930 reward: -250.640681633427 average score for the last 100 games: 91.32619494345936 partial success avg 0.67 dist 0.08 time: 0.42294 seconds eps: 0.20790942484404715 game: 29931 reward: -146.11946859466892 average score for the last 100 games: 88.28337165443146 partial success avg 0.60 dist 0.08 time: 0.378652 seconds success eps: 0.2077015154192031 game: 29932 reward: 75.64628779005746 average score for the last 100 games: 87.54830753064269 partial success avg 0.64 dist 0.08 time: 0.1085 seconds success eps: 0.20749381390378388 game: 29933 reward: 96.39109847979671 average score for the last 100 games: 87.07623329539409 partial success avg 0.67 dist 0.08 time: 0.318919 seconds success eps: 0.2072863200898801 game: 29934 reward: 79.7638687913418 average score for the last 100 games: 86.7499672436159 partial success avg 0.69 dist 0.08 time: 0.242998 seconds success eps: 0.20707903376979023 game: 29935 reward: 69.45699015294619 average score for the last 100 games: 86.11280272116608 partial success avg 0.71 dist 0.08 time: 0.114208 seconds eps: 0.20687195473602044 game: 29936 reward: -250.27666655737048 average score for the last 100 games: 82.22769232476945 partial success avg 0.67 dist 0.08 time: 0.42073 seconds success eps: 0.20666508278128443 game: 29937 reward: 15.360951242932146 average score for the last 100 games: 80.73012294658578 partial success avg 0.69 dist 0.08 time: 0.273206 seconds success eps: 0.20645841769850315 game: 29938 reward: 31.404979849064745 average score for the last 100 games: 79.57655560424385 partial success avg 0.71 dist 0.08 time: 0.119868 seconds success eps: 0.20625195928080464 game: 29939 reward: 127.34463202953859 average score for the last 100 games: 79.17466638470547 partial success avg 0.72 dist 0.08 time: 0.117056 seconds success eps: 0.20604570732152383 game: 29940 reward: 175.20035702430144 average score for the last 100 games: 79.13953900978882 partial success avg 0.74 dist 0.08 time: 0.060373 seconds eps: 0.2058396616142023 game: 29941 reward: -197.25129134746285 average score for the last 100 games: 75.6390263754235 partial success avg 0.70 dist 0.08 time: 0.399695 seconds eps: 0.20563382195258811 game: 29942 reward: -260.60374471058446 average score for the last 100 games: 71.30743782483844 partial success avg 0.67 dist 0.08 time: 0.372768 seconds success eps: 0.20542818813063551 game: 29943 reward: 28.524042623809322 average score for the last 100 games: 70.12825875523566 partial success avg 0.68 dist 0.08 time: 0.162505 seconds success eps: 0.20522275994250488 game: 29944 reward: 163.06371643197355 average score for the last 100 games: 70.13366434549876 partial success avg 0.70 dist 0.08 time: 0.09099 seconds eps: 0.20501753718256238 game: 29945 reward: -298.5742151051523 average score for the last 100 games: 68.99733302120836 partial success avg 0.67 dist 0.08 time: 0.416429 seconds success eps: 0.20481251964537983 game: 29946 reward: -15.60741065888925 average score for the last 100 games: 67.66090869479714 partial success avg 0.68 dist 0.08 time: 0.148506 seconds success eps: 0.20460770712573445 game: 29947 reward: 107.14105825972727 average score for the last 100 games: 67.98826085341746 partial success avg 0.69 dist 0.08 time: 0.153263 seconds eps: 0.2044030994186087 game: 29948 reward: -125.97827278787834 average score for the last 100 games: 64.96020006290384 partial success avg 0.67 dist 0.08 time: 0.398251 seconds success eps: 0.2041986963191901 game: 29949 reward: 115.1574906752881 average score for the last 100 games: 64.92876285265322 partial success avg 0.68 dist 0.08 time: 0.125552 seconds success eps: 0.20399449762287092 game: 29950 reward: 168.2297032976344 average score for the last 100 games: 65.90168773280675 partial success avg 0.69 dist 0.08 time: 0.073856 seconds success eps: 0.20379050312524805 game: 29951 reward: 136.41802842326445 average score for the last 100 games: 65.6847230906592 partial success avg 0.70 dist 0.08 time: 0.153481 seconds success eps: 0.2035867126221228 game: 29952 reward: 160.87553108710935 average score for the last 100 games: 66.72811420779595 partial success avg 0.71 dist 0.08 time: 0.054096 seconds success eps: 0.20338312590950067 game: 29953 reward: 78.78444453219097 average score for the last 100 games: 67.06762811788906 partial success avg 0.72 dist 0.08 time: 0.164167 seconds success eps: 0.20317974278359116 game: 29954 reward: 131.10617984984455 average score for the last 100 games: 67.14177112297749 partial success avg 0.73 dist 0.08 time: 0.160898 seconds success eps: 0.20297656304080758 game: 29955 reward: 148.05007890341898 average score for the last 100 games: 69.85055354942682 partial success avg 0.74 dist 0.08 time: 0.097466 seconds success eps: 0.20277358647776678 game: 29956 reward: 65.08575309054862 average score for the last 100 games: 69.03466429615233 partial success avg 0.74 dist 0.08 time: 0.21072 seconds eps: 0.202570812891289 game: 29957 reward: -126.98682268798763 average score for the last 100 games: 66.77498150432402 partial success avg 0.72 dist 0.08 time: 0.579924 seconds success eps: 0.2023682420783977 game: 29958 reward: 32.962797852200765 average score for the last 100 games: 65.4305666299952 partial success avg 0.73 dist 0.08 time: 0.135087 seconds eps: 0.20216587383631932 game: 29959 reward: -178.14495186923193 average score for the last 100 games: 62.057383933489675 partial success avg 0.71 dist 0.08 time: 0.390633 seconds success eps: 0.201963707962483 game: 29960 reward: 49.10218520617167 average score for the last 100 games: 60.78838535839117 partial success avg 0.72 dist 0.08 time: 0.203575 seconds success eps: 0.2017617442545205 game: 29961 reward: 21.289620312786525 average score for the last 100 games: 60.030467989232704 partial success avg 0.72 dist 0.08 time: 0.331031 seconds success eps: 0.201559982510266 game: 29962 reward: 172.15463249946157 average score for the last 100 games: 63.10684537288037 partial success avg 0.73 dist 0.08 time: 0.059181 seconds success eps: 0.20135842252775574 game: 29963 reward: 0.773328178356536 average score for the last 100 games: 61.520428446627974 partial success avg 0.74 dist 0.08 time: 0.365397 seconds success eps: 0.201157064105228 game: 29964 reward: 75.5629462888409 average score for the last 100 games: 61.220539625727 partial success avg 0.74 dist 0.08 time: 0.281913 seconds success eps: 0.20095590704112276 game: 29965 reward: 77.0520050033494 average score for the last 100 games: 63.26469174841182 partial success avg 0.75 dist 0.08 time: 0.106741 seconds success eps: 0.20075495113408165 game: 29966 reward: 9.578314382911742 average score for the last 100 games: 62.11768733920987 partial success avg 0.76 dist 0.08 time: 0.19404 seconds success eps: 0.20055419618294756 game: 29967 reward: 148.02106749947407 average score for the last 100 games: 61.96109500072697 partial success avg 0.76 dist 0.08 time: 0.059496 seconds success eps: 0.2003536419867646 game: 29968 reward: 73.34747332157717 average score for the last 100 games: 61.24894603161151 partial success avg 0.77 dist 0.08 time: 0.2992 seconds success eps: 0.20015328834477786 game: 29969 reward: 111.17048978688027 average score for the last 100 games: 60.96990098099111 partial success avg 0.77 dist 0.08 time: 0.224591 seconds eps: 0.19995313505643308 game: 29970 reward: -216.70775333503607 average score for the last 100 games: 57.5749495890104 partial success avg 0.76 dist 0.08 time: 0.389346 seconds success eps: 0.19975318192137664 game: 29971 reward: 11.396271656544485 average score for the last 100 games: 55.98198177978822 partial success avg 0.76 dist 0.08 time: 0.190463 seconds success eps: 0.19955342873945528 game: 29972 reward: 168.75697614116467 average score for the last 100 games: 56.90212045967033 partial success avg 0.76 dist 0.08 time: 0.071198 seconds success eps: 0.19935387531071583 game: 29973 reward: 149.9680677880335 average score for the last 100 games: 57.08957274389897 partial success avg 0.77 dist 0.08 time: 0.090524 seconds success eps: 0.1991545214354051 game: 29974 reward: 133.30132910014015 average score for the last 100 games: 56.787980445121704 partial success avg 0.77 dist 0.08 time: 0.195547 seconds success eps: 0.1989553669139697 game: 29975 reward: 106.89985633012488 average score for the last 100 games: 57.008819237654485 partial success avg 0.78 dist 0.08 time: 0.182368 seconds success eps: 0.19875641154705573 game: 29976 reward: 90.10880634013807 average score for the last 100 games: 57.65015287425639 partial success avg 0.78 dist 0.08 time: 0.106699 seconds success eps: 0.19855765513550866 game: 29977 reward: 132.79186680145287 average score for the last 100 games: 57.8621761343651 partial success avg 0.79 dist 0.08 time: 0.130514 seconds eps: 0.19835909748037314 game: 29978 reward: -290.33458091275526 average score for the last 100 games: 53.433783759922214 partial success avg 0.77 dist 0.08 time: 0.376656 seconds eps: 0.19816073838289278 game: 29979 reward: -143.0279001090758 average score for the last 100 games: 51.803910496725784 partial success avg 0.76 dist 0.08 time: 0.413191 seconds success eps: 0.1979625776445099 game: 29980 reward: 21.135301517614266 average score for the last 100 games: 50.99915076255379 partial success avg 0.76 dist 0.08 time: 0.193523 seconds success eps: 0.19776461506686538 game: 29981 reward: -148.4803558493276 average score for the last 100 games: 47.88898873270022 partial success avg 0.77 dist 0.08 time: 0.270222 seconds eps: 0.1975668504517985 game: 29982 reward: -185.02277331145774 average score for the last 100 games: 44.38650643369766 partial success avg 0.75 dist 0.08 time: 0.382124 seconds success eps: 0.1973692836013467 game: 29983 reward: 120.86649680849979 average score for the last 100 games: 47.0296663355495 partial success avg 0.76 dist 0.08 time: 0.090201 seconds success eps: 0.19717191431774536 game: 29984 reward: 161.73602921124456 average score for the last 100 games: 47.17071520873046 partial success avg 0.76 dist 0.08 time: 0.084943 seconds success eps: 0.1969747424034276 game: 29985 reward: 19.47106296778199 average score for the last 100 games: 48.78080833311726 partial success avg 0.77 dist 0.08 time: 0.144943 seconds success eps: 0.19677776766102417 game: 29986 reward: 130.31318305412034 average score for the last 100 games: 49.549126040087614 partial success avg 0.77 dist 0.08 time: 0.187644 seconds success eps: 0.19658098989336314 game: 29987 reward: 138.09554496109206 average score for the last 100 games: 50.6081825256387 partial success avg 0.77 dist 0.08 time: 0.153578 seconds success eps: 0.19638440890346978 game: 29988 reward: 135.38753213258857 average score for the last 100 games: 54.130586054743475 partial success avg 0.78 dist 0.08 time: 0.181401 seconds success eps: 0.19618802449456632 game: 29989 reward: 84.11670294906496 average score for the last 100 games: 53.42037125531292 partial success avg 0.78 dist 0.08 time: 0.251709 seconds eps: 0.19599183647007176 game: 29990 reward: -149.16989681980954 average score for the last 100 games: 51.920594098974874 partial success avg 0.77 dist 0.08 time: 0.403799 seconds success eps: 0.1957958446336017 game: 29991 reward: 124.93469918035207 average score for the last 100 games: 51.38651857903289 partial success avg 0.77 dist 0.08 time: 0.080244 seconds eps: 0.19560004878896808 game: 29992 reward: -228.75129502940763 average score for the last 100 games: 47.781697073548656 partial success avg 0.76 dist 0.08 time: 0.402955 seconds success eps: 0.19540444874017912 game: 29993 reward: 89.91873239174612 average score for the last 100 games: 47.64182776143291 partial success avg 0.76 dist 0.08 time: 0.14926 seconds eps: 0.19520904429143895 game: 29994 reward: -299.62133901409265 average score for the last 100 games: 43.88829038926199 partial success avg 0.75 dist 0.08 time: 0.377315 seconds eps: 0.19501383524714752 game: 29995 reward: -152.04561345763878 average score for the last 100 games: 41.57844791777091 partial success avg 0.74 dist 0.08 time: 0.392143 seconds success eps: 0.19481882141190038 game: 29996 reward: 80.60348864502858 average score for the last 100 games: 40.60828190020211 partial success avg 0.75 dist 0.08 time: 0.089976 seconds success eps: 0.19462400259048848 game: 29997 reward: 110.30333016302438 average score for the last 100 games: 40.03643138916316 partial success avg 0.75 dist 0.08 time: 0.092743 seconds success eps: 0.194429378587898 game: 29998 reward: 115.03764258491778 average score for the last 100 games: 40.25808029029406 partial success avg 0.75 dist 0.08 time: 0.073432 seconds success eps: 0.1942349492093101 game: 29999 reward: 58.48476569771074 average score for the last 100 games: 42.33710724476362 partial success avg 0.76 dist 0.08 time: 0.143071 seconds
eps: 0.19404071426010078 game: 30000 reward: -275.7732320792031 average score for the last 100 games: 37.83125870354265 partial success avg 0.75 dist 0.08 time: 0.765057 seconds Total time: 30537.580162 seconds
In [ ]:
def plot_learning_curve(x, scores, figure_file):
running_avg_score = np.zeros(len(scores))
for i in range(len(running_avg_score)):
running_avg_score[i] = np.mean(scores[max(0, i-100):(i+1)])
plt.plot(x, running_avg_score, '-b')
plt.ylim(-300,200)
plt.xticks(fontsize='15')
plt.yticks(fontsize='15')
plt.xlabel('Episódios',fontsize='18')
plt.ylabel('Pontuação',fontsize='18')
plt.axvline(x=next_level_points[-3], color='red')
plt.axvline(0,color='red',linestyle='--')
plt.text(-300,-200,'d = 0.45 m',rotation=-90,color='red',weight='bold',size='12')
d = 0.45
for p in next_level_points[:]:
d = d*0.8
plt.text(p+50,-200,'%.2f m'%d,rotation=-90,color='red',weight='bold',size='12')
plt.axvline(x=p, color='red', linestyle='--')
plt.title('Média móvel das últimas 100 pontuações',size='20',weight='bold')
plt.savefig(figure_file)
def plot_success_curve(x, successes, figure_file):
running_success_rate = np.zeros(len(successes))
for i in range(len(running_success_rate)):
running_success_rate[i] = np.mean(successes[max(0, i-50):(i+1)])
plt.plot(x, running_success_rate, '-g')
plt.xticks(fontsize='15')
plt.yticks(fontsize='15')
plt.xlabel('Episódios',fontsize='18')
plt.ylabel('Taxa de sucesso',fontsize='18')
plt.axvline(x=next_level_points[-3], color='red')
plt.axvline(0,color='red',linestyle='--')
plt.text(65,0.12,'d = 0.45 m',rotation=-90,color='red',weight='bold',size='12')
d = 0.45
for p in next_level_points[:]:
d = d*0.8
plt.text(p+50,0.12,'%.2f m'%d,rotation=-90,color='red',weight='bold',size='12')
plt.axvline(x=p, color='red', linestyle='--')
plt.title('Taxa de sucesso dos últimos 50 episódios',size='20',weight='bold')
plt.savefig(figure_file)
def plot_step_curve(x, steps, figure_file):
running_step_avg = np.zeros(len(steps))
for i in range(len(running_step_avg)):
running_step_avg[i] = np.mean(steps[max(0, i-200):(i+1)])
plt.plot(x, running_step_avg, '-g')
plt.xticks(fontsize='15')
plt.yticks(fontsize='15')
plt.xlabel('Episódios',fontsize='18')
plt.ylabel('Tempo até atingir o alvo (s)',fontsize='18')
plt.axvline(x=next_level_points[-3], color='red')
plt.axvline(0,color='red',linestyle='--')
plt.text(65,4,'d = 0.45 m',rotation=-90,color='red',weight='bold',size='12')
d = 0.45
for p in next_level_points[:]:
d = d*0.8
plt.text(p+50,4,'%.2f m'%d,rotation=-90,color='red',weight='bold',size='12')
plt.axvline(x=p, color='red', linestyle='--')
plt.title('Média móvel da duração dos últimos 200 episódios',size='20',weight='bold')
plt.savefig(figure_file)
x = [i+1 for i in range(30001)]
%matplotlib inline
plt.figure('learning',figsize=(15,6))
plot_learning_curve(x, score_history, figure_file_score)
plt.figure('catching',figsize=(15,6))
plot_success_curve(x, success_history, figure_file_catchrate)
plt.figure('steps',figsize=(15,6))
plot_step_curve(x, step_history, figure_file_steps)
In [ ]:
plt.ion()
env = MujocoEnv2_1()
state_dim = env.state_dim
action_dim = env.action_dim
agent = Agent(state_dim, action_dim)
agent.main_model = load_model(agent.main_model, MODEL_FILE)
agent.target_model = load_model(agent.main_model, MODEL_FILE)
actions = load_actions(MODEL_FILE+'_actions')
agent.eps = agent.eps_min
fixedGames = []
for i in np.arange(1, 1.5, 0.1):
for j in np.arange(0, 2*np.pi, np.pi/18):
list = [i, j]
fixedGames.append(list)
for game in range(len(fixedGames)):
env.variaPos(float(fixedGames[game][0]),float(fixedGames[game][1]))
done = False
score = 0
success = 0
observation = env.resetFixo()
game_actions = [] # actions taken during this game
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.rstep(action)
action = torch.tensor(action).long()
#agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
#if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
media.show_video(env.frames, fps=env.framerate)
print('Jogo:', game, ' \ Raio:', env.radius, ' \ Ângulo:', env.angle*180/np.pi)
print('Recompensa:', str(score))
print('-------------------------------------------------')
success
Jogo: 0 \ Raio: 1.0 \ Ângulo: 0.0 Recompensa: 160.44648781331597 -------------------------------------------------
Jogo: 1 \ Raio: 1.0 \ Ângulo: 10.0 Recompensa: -132.18129385450467 ------------------------------------------------- success
Jogo: 2 \ Raio: 1.0 \ Ângulo: 20.0 Recompensa: 158.25259758365843 ------------------------------------------------- success
Jogo: 3 \ Raio: 1.0 \ Ângulo: 29.999999999999996 Recompensa: 160.40813463474063 ------------------------------------------------- success
Jogo: 4 \ Raio: 1.0 \ Ângulo: 40.0 Recompensa: 159.43286765212918 ------------------------------------------------- success
Jogo: 5 \ Raio: 1.0 \ Ângulo: 50.0 Recompensa: 156.86196987733456 ------------------------------------------------- success
Jogo: 6 \ Raio: 1.0 \ Ângulo: 59.99999999999999 Recompensa: 154.8820520720305 ------------------------------------------------- success
Jogo: 7 \ Raio: 1.0 \ Ângulo: 70.0 Recompensa: 150.286524429224 ------------------------------------------------- success
Jogo: 8 \ Raio: 1.0 \ Ângulo: 80.0 Recompensa: 149.37327459079128 ------------------------------------------------- success
Jogo: 9 \ Raio: 1.0 \ Ângulo: 90.0 Recompensa: 133.7480538911284 ------------------------------------------------- success
Jogo: 10 \ Raio: 1.0 \ Ângulo: 100.0 Recompensa: 134.79583219533333 ------------------------------------------------- success
Jogo: 11 \ Raio: 1.0 \ Ângulo: 110.0 Recompensa: 125.88759791429021 ------------------------------------------------- success
Jogo: 12 \ Raio: 1.0 \ Ângulo: 119.99999999999999 Recompensa: 117.91102877498489 ------------------------------------------------- success
Jogo: 13 \ Raio: 1.0 \ Ângulo: 130.0 Recompensa: 114.27760895011309 ------------------------------------------------- success
Jogo: 14 \ Raio: 1.0 \ Ângulo: 140.0 Recompensa: 103.72748365978616 ------------------------------------------------- success
Jogo: 15 \ Raio: 1.0 \ Ângulo: 150.00000000000003 Recompensa: 92.90552637270875 ------------------------------------------------- success
Jogo: 16 \ Raio: 1.0 \ Ângulo: 160.0 Recompensa: 87.37074364612788 ------------------------------------------------- success
Jogo: 17 \ Raio: 1.0 \ Ângulo: 170.0 Recompensa: 78.63611650649925 ------------------------------------------------- success
Jogo: 18 \ Raio: 1.0 \ Ângulo: 180.0 Recompensa: 56.15893501242621 ------------------------------------------------- success
Jogo: 19 \ Raio: 1.0 \ Ângulo: 190.0 Recompensa: 76.50439765089168 ------------------------------------------------- success
Jogo: 20 \ Raio: 1.0 \ Ângulo: 200.0 Recompensa: 85.06737448268896 -------------------------------------------------
Jogo: 21 \ Raio: 1.0 \ Ângulo: 209.99999999999997 Recompensa: -192.9218403470704 -------------------------------------------------
Jogo: 22 \ Raio: 1.0 \ Ângulo: 220.0 Recompensa: -187.20834391424012 ------------------------------------------------- success
Jogo: 23 \ Raio: 1.0 \ Ângulo: 229.99999999999997 Recompensa: 116.87765173556429 ------------------------------------------------- success
Jogo: 24 \ Raio: 1.0 \ Ângulo: 239.99999999999997 Recompensa: 126.51832243595302 ------------------------------------------------- success
Jogo: 25 \ Raio: 1.0 \ Ângulo: 249.99999999999997 Recompensa: 130.8955245507325 ------------------------------------------------- success
Jogo: 26 \ Raio: 1.0 \ Ângulo: 260.0 Recompensa: 137.16229677326749 -------------------------------------------------
Jogo: 27 \ Raio: 1.0 \ Ângulo: 270.0 Recompensa: -147.64646263749339 ------------------------------------------------- success
Jogo: 28 \ Raio: 1.0 \ Ângulo: 280.0 Recompensa: 143.966522932006 ------------------------------------------------- success
Jogo: 29 \ Raio: 1.0 \ Ângulo: 290.0 Recompensa: 151.7182069408486 ------------------------------------------------- success
Jogo: 30 \ Raio: 1.0 \ Ângulo: 300.00000000000006 Recompensa: 156.20838062391928 ------------------------------------------------- success
Jogo: 31 \ Raio: 1.0 \ Ângulo: 310.0 Recompensa: 158.14470658005087 ------------------------------------------------- success
Jogo: 32 \ Raio: 1.0 \ Ângulo: 320.0 Recompensa: 157.12911749222906 ------------------------------------------------- success
Jogo: 33 \ Raio: 1.0 \ Ângulo: 329.99999999999994 Recompensa: 157.61009028409302 ------------------------------------------------- success
Jogo: 34 \ Raio: 1.0 \ Ângulo: 340.0 Recompensa: 160.03524378010263 ------------------------------------------------- success
Jogo: 35 \ Raio: 1.0 \ Ângulo: 350.00000000000006 Recompensa: 160.32059536289697 ------------------------------------------------- success
Jogo: 36 \ Raio: 1.1 \ Ângulo: 0.0 Recompensa: 166.4617918995457 ------------------------------------------------- success
Jogo: 37 \ Raio: 1.1 \ Ângulo: 10.0 Recompensa: 166.42883147060462 ------------------------------------------------- success
Jogo: 38 \ Raio: 1.1 \ Ângulo: 20.0 Recompensa: 165.9304478856028 ------------------------------------------------- success
Jogo: 39 \ Raio: 1.1 \ Ângulo: 29.999999999999996 Recompensa: 163.32715365481192 ------------------------------------------------- success
Jogo: 40 \ Raio: 1.1 \ Ângulo: 40.0 Recompensa: 162.32683355354374 ------------------------------------------------- success
Jogo: 41 \ Raio: 1.1 \ Ângulo: 50.0 Recompensa: 160.5629488450248 ------------------------------------------------- success
Jogo: 42 \ Raio: 1.1 \ Ângulo: 59.99999999999999 Recompensa: 152.9710170692283 ------------------------------------------------- success
Jogo: 43 \ Raio: 1.1 \ Ângulo: 70.0 Recompensa: 157.4320039400378 ------------------------------------------------- success
Jogo: 44 \ Raio: 1.1 \ Ângulo: 80.0 Recompensa: 151.11206265283448 ------------------------------------------------- success
Jogo: 45 \ Raio: 1.1 \ Ângulo: 90.0 Recompensa: 148.65643623960693 ------------------------------------------------- success
Jogo: 46 \ Raio: 1.1 \ Ângulo: 100.0 Recompensa: 140.23194249689612 ------------------------------------------------- success
Jogo: 47 \ Raio: 1.1 \ Ângulo: 110.0 Recompensa: 128.5928857349876 ------------------------------------------------- success
Jogo: 48 \ Raio: 1.1 \ Ângulo: 119.99999999999999 Recompensa: 116.65602050514036 ------------------------------------------------- success
Jogo: 49 \ Raio: 1.1 \ Ângulo: 130.0 Recompensa: 112.30353390128099 ------------------------------------------------- success
Jogo: 50 \ Raio: 1.1 \ Ângulo: 140.0 Recompensa: 106.5720956558905 ------------------------------------------------- success
Jogo: 51 \ Raio: 1.1 \ Ângulo: 150.00000000000003 Recompensa: 94.9793926813858 ------------------------------------------------- success
Jogo: 52 \ Raio: 1.1 \ Ângulo: 160.0 Recompensa: 83.72862363520224 ------------------------------------------------- success
Jogo: 53 \ Raio: 1.1 \ Ângulo: 170.0 Recompensa: 71.8161648453822 ------------------------------------------------- success
Jogo: 54 \ Raio: 1.1 \ Ângulo: 180.0 Recompensa: 60.008880901393354 ------------------------------------------------- success
Jogo: 55 \ Raio: 1.1 \ Ângulo: 190.0 Recompensa: 69.23919577741762 ------------------------------------------------- success
Jogo: 56 \ Raio: 1.1 \ Ângulo: 200.0 Recompensa: 81.24051294537401 ------------------------------------------------- success
Jogo: 57 \ Raio: 1.1 \ Ângulo: 209.99999999999997 Recompensa: 95.39187561189222 ------------------------------------------------- success
Jogo: 58 \ Raio: 1.1 \ Ângulo: 220.0 Recompensa: 104.24236978457212 ------------------------------------------------- success
Jogo: 59 \ Raio: 1.1 \ Ângulo: 229.99999999999997 Recompensa: 115.07388425277537 ------------------------------------------------- success
Jogo: 60 \ Raio: 1.1 \ Ângulo: 239.99999999999997 Recompensa: 125.6472169170842 ------------------------------------------------- success
Jogo: 61 \ Raio: 1.1 \ Ângulo: 249.99999999999997 Recompensa: 128.36318706560877 ------------------------------------------------- success
Jogo: 62 \ Raio: 1.1 \ Ângulo: 260.0 Recompensa: 135.0778759708783 ------------------------------------------------- success
Jogo: 63 \ Raio: 1.1 \ Ângulo: 270.0 Recompensa: 141.05277915955395 ------------------------------------------------- success
Jogo: 64 \ Raio: 1.1 \ Ângulo: 280.0 Recompensa: 147.8553871106375 ------------------------------------------------- success
Jogo: 65 \ Raio: 1.1 \ Ângulo: 290.0 Recompensa: 151.45985076907226 ------------------------------------------------- success
Jogo: 66 \ Raio: 1.1 \ Ângulo: 300.00000000000006 Recompensa: 160.92597784891848 ------------------------------------------------- success
Jogo: 67 \ Raio: 1.1 \ Ângulo: 310.0 Recompensa: 160.93107533795455 ------------------------------------------------- success
Jogo: 68 \ Raio: 1.1 \ Ângulo: 320.0 Recompensa: 162.25120610979022 ------------------------------------------------- success
Jogo: 69 \ Raio: 1.1 \ Ângulo: 329.99999999999994 Recompensa: 158.224283196238 ------------------------------------------------- success
Jogo: 70 \ Raio: 1.1 \ Ângulo: 340.0 Recompensa: 165.64777922564082 ------------------------------------------------- success
Jogo: 71 \ Raio: 1.1 \ Ângulo: 350.00000000000006 Recompensa: 165.56016169595824 ------------------------------------------------- success
Jogo: 72 \ Raio: 1.2000000000000002 \ Ângulo: 0.0 Recompensa: 171.4641982883283 ------------------------------------------------- success
Jogo: 73 \ Raio: 1.2000000000000002 \ Ângulo: 10.0 Recompensa: 171.4246219302669 ------------------------------------------------- success
Jogo: 74 \ Raio: 1.2000000000000002 \ Ângulo: 20.0 Recompensa: 163.11291438244652 ------------------------------------------------- success
Jogo: 75 \ Raio: 1.2000000000000002 \ Ângulo: 29.999999999999996 Recompensa: 167.96626995141267 ------------------------------------------------- success
Jogo: 76 \ Raio: 1.2000000000000002 \ Ângulo: 40.0 Recompensa: 167.12156138315518 ------------------------------------------------- success
Jogo: 77 \ Raio: 1.2000000000000002 \ Ângulo: 50.0 Recompensa: 162.84631233877852 ------------------------------------------------- success
Jogo: 78 \ Raio: 1.2000000000000002 \ Ângulo: 59.99999999999999 Recompensa: 117.31807744631331 ------------------------------------------------- success
Jogo: 79 \ Raio: 1.2000000000000002 \ Ângulo: 70.0 Recompensa: 159.1639234374702 ------------------------------------------------- success
Jogo: 80 \ Raio: 1.2000000000000002 \ Ângulo: 80.0 Recompensa: 156.8686744644887 ------------------------------------------------- success
Jogo: 81 \ Raio: 1.2000000000000002 \ Ângulo: 90.0 Recompensa: 151.6034072797952 ------------------------------------------------- success
Jogo: 82 \ Raio: 1.2000000000000002 \ Ângulo: 100.0 Recompensa: 140.51004970058494 ------------------------------------------------- success
Jogo: 83 \ Raio: 1.2000000000000002 \ Ângulo: 110.0 Recompensa: 132.89219455347632 ------------------------------------------------- success
Jogo: 84 \ Raio: 1.2000000000000002 \ Ângulo: 119.99999999999999 Recompensa: 115.32403190580393 ------------------------------------------------- success
Jogo: 85 \ Raio: 1.2000000000000002 \ Ângulo: 130.0 Recompensa: 110.88303030351253 ------------------------------------------------- success
Jogo: 86 \ Raio: 1.2000000000000002 \ Ângulo: 140.0 Recompensa: 104.03725185801967 ------------------------------------------------- success
Jogo: 87 \ Raio: 1.2000000000000002 \ Ângulo: 150.00000000000003 Recompensa: 91.78634150653511 ------------------------------------------------- success
Jogo: 88 \ Raio: 1.2000000000000002 \ Ângulo: 160.0 Recompensa: 79.21805869461208 ------------------------------------------------- success
Jogo: 89 \ Raio: 1.2000000000000002 \ Ângulo: 170.0 Recompensa: 61.070262175664794 ------------------------------------------------- success
Jogo: 90 \ Raio: 1.2000000000000002 \ Ângulo: 180.0 Recompensa: 48.999622320686825 ------------------------------------------------- success
Jogo: 91 \ Raio: 1.2000000000000002 \ Ângulo: 190.0 Recompensa: 64.31873866699317 ------------------------------------------------- success
Jogo: 92 \ Raio: 1.2000000000000002 \ Ângulo: 200.0 Recompensa: 79.21967614029792 ------------------------------------------------- success
Jogo: 93 \ Raio: 1.2000000000000002 \ Ângulo: 209.99999999999997 Recompensa: 89.16402879131478 ------------------------------------------------- success
Jogo: 94 \ Raio: 1.2000000000000002 \ Ângulo: 220.0 Recompensa: 103.99196681831205 ------------------------------------------------- success
Jogo: 95 \ Raio: 1.2000000000000002 \ Ângulo: 229.99999999999997 Recompensa: 113.05235152161575 ------------------------------------------------- success
Jogo: 96 \ Raio: 1.2000000000000002 \ Ângulo: 239.99999999999997 Recompensa: 124.20105482619019 ------------------------------------------------- success
Jogo: 97 \ Raio: 1.2000000000000002 \ Ângulo: 249.99999999999997 Recompensa: 130.06374449738985 ------------------------------------------------- success
Jogo: 98 \ Raio: 1.2000000000000002 \ Ângulo: 260.0 Recompensa: 137.87036523551075 ------------------------------------------------- success
Jogo: 99 \ Raio: 1.2000000000000002 \ Ângulo: 270.0 Recompensa: 144.06301340756505 ------------------------------------------------- success
Jogo: 100 \ Raio: 1.2000000000000002 \ Ângulo: 280.0 Recompensa: 151.36456186270095 ------------------------------------------------- success
Jogo: 101 \ Raio: 1.2000000000000002 \ Ângulo: 290.0 Recompensa: 161.70899161314267 ------------------------------------------------- success
Jogo: 102 \ Raio: 1.2000000000000002 \ Ângulo: 300.00000000000006 Recompensa: 163.07607665071856 ------------------------------------------------- success
Jogo: 103 \ Raio: 1.2000000000000002 \ Ângulo: 310.0 Recompensa: 165.49261009916225 ------------------------------------------------- success
Jogo: 104 \ Raio: 1.2000000000000002 \ Ângulo: 320.0 Recompensa: 167.01188783526243 ------------------------------------------------- success
Jogo: 105 \ Raio: 1.2000000000000002 \ Ângulo: 329.99999999999994 Recompensa: 164.72663646433378 ------------------------------------------------- success
Jogo: 106 \ Raio: 1.2000000000000002 \ Ângulo: 340.0 Recompensa: 168.3734302441996 ------------------------------------------------- success
Jogo: 107 \ Raio: 1.2000000000000002 \ Ângulo: 350.00000000000006 Recompensa: 170.39565751893508 ------------------------------------------------- success
Jogo: 108 \ Raio: 1.3000000000000003 \ Ângulo: 0.0 Recompensa: 176.09607795949057 ------------------------------------------------- success
Jogo: 109 \ Raio: 1.3000000000000003 \ Ângulo: 10.0 Recompensa: 167.5215965220867 ------------------------------------------------- success
Jogo: 110 \ Raio: 1.3000000000000003 \ Ângulo: 20.0 Recompensa: 167.6172008288978 ------------------------------------------------- success
Jogo: 111 \ Raio: 1.3000000000000003 \ Ângulo: 29.999999999999996 Recompensa: 172.3289898347789 ------------------------------------------------- success
Jogo: 112 \ Raio: 1.3000000000000003 \ Ângulo: 40.0 Recompensa: 171.4367033797144 ------------------------------------------------- success
Jogo: 113 \ Raio: 1.3000000000000003 \ Ângulo: 50.0 Recompensa: 164.53956310256845 -------------------------------------------------
Jogo: 114 \ Raio: 1.3000000000000003 \ Ângulo: 59.99999999999999 Recompensa: -133.16049126899892 ------------------------------------------------- success
Jogo: 115 \ Raio: 1.3000000000000003 \ Ângulo: 70.0 Recompensa: 164.9429676389206 ------------------------------------------------- success
Jogo: 116 \ Raio: 1.3000000000000003 \ Ângulo: 80.0 Recompensa: 152.42244038445335 ------------------------------------------------- success
Jogo: 117 \ Raio: 1.3000000000000003 \ Ângulo: 90.0 Recompensa: 151.95922731049677 ------------------------------------------------- success
Jogo: 118 \ Raio: 1.3000000000000003 \ Ângulo: 100.0 Recompensa: 139.90776319885012 ------------------------------------------------- success
Jogo: 119 \ Raio: 1.3000000000000003 \ Ângulo: 110.0 Recompensa: 115.28411261433773 ------------------------------------------------- success
Jogo: 120 \ Raio: 1.3000000000000003 \ Ângulo: 119.99999999999999 Recompensa: 125.34565468996722 ------------------------------------------------- success
Jogo: 121 \ Raio: 1.3000000000000003 \ Ângulo: 130.0 Recompensa: 113.38957707903997 ------------------------------------------------- success
Jogo: 122 \ Raio: 1.3000000000000003 \ Ângulo: 140.0 Recompensa: 100.81964530402468 ------------------------------------------------- success
Jogo: 123 \ Raio: 1.3000000000000003 \ Ângulo: 150.00000000000003 Recompensa: 87.85935908474185 ------------------------------------------------- success
Jogo: 124 \ Raio: 1.3000000000000003 \ Ângulo: 160.0 Recompensa: 69.26726773998251 ------------------------------------------------- success
Jogo: 125 \ Raio: 1.3000000000000003 \ Ângulo: 170.0 Recompensa: 49.64650921364759 ------------------------------------------------- success
Jogo: 126 \ Raio: 1.3000000000000003 \ Ângulo: 180.0 Recompensa: 37.06657355388771 ------------------------------------------------- success
Jogo: 127 \ Raio: 1.3000000000000003 \ Ângulo: 190.0 Recompensa: 61.20077333529119 ------------------------------------------------- success
Jogo: 128 \ Raio: 1.3000000000000003 \ Ângulo: 200.0 Recompensa: 69.35754460660019 ------------------------------------------------- success
Jogo: 129 \ Raio: 1.3000000000000003 \ Ângulo: 209.99999999999997 Recompensa: 87.83316061968343 ------------------------------------------------- success
Jogo: 130 \ Raio: 1.3000000000000003 \ Ângulo: 220.0 Recompensa: 98.17898301259987 ------------------------------------------------- success
Jogo: 131 \ Raio: 1.3000000000000003 \ Ângulo: 229.99999999999997 Recompensa: 113.40455827144153 ------------------------------------------------- success
Jogo: 132 \ Raio: 1.3000000000000003 \ Ângulo: 239.99999999999997 Recompensa: 125.31760624002705 ------------------------------------------------- success
Jogo: 133 \ Raio: 1.3000000000000003 \ Ângulo: 249.99999999999997 Recompensa: 131.95341210150926 ------------------------------------------------- success
Jogo: 134 \ Raio: 1.3000000000000003 \ Ângulo: 260.0 Recompensa: 139.81168642168876 ------------------------------------------------- success
Jogo: 135 \ Raio: 1.3000000000000003 \ Ângulo: 270.0 Recompensa: 146.61206677134277 ------------------------------------------------- success
Jogo: 136 \ Raio: 1.3000000000000003 \ Ângulo: 280.0 Recompensa: 159.83341463659224 ------------------------------------------------- success
Jogo: 137 \ Raio: 1.3000000000000003 \ Ângulo: 290.0 Recompensa: 163.07406421798663 ------------------------------------------------- success
Jogo: 138 \ Raio: 1.3000000000000003 \ Ângulo: 300.00000000000006 Recompensa: 166.92906576771804 ------------------------------------------------- success
Jogo: 139 \ Raio: 1.3000000000000003 \ Ângulo: 310.0 Recompensa: 169.65063304922478 ------------------------------------------------- success
Jogo: 140 \ Raio: 1.3000000000000003 \ Ângulo: 320.0 Recompensa: 171.38138852453235 ------------------------------------------------- success
Jogo: 141 \ Raio: 1.3000000000000003 \ Ângulo: 329.99999999999994 Recompensa: 167.5566625855656 -------------------------------------------------
Jogo: 142 \ Raio: 1.3000000000000003 \ Ângulo: 340.0 Recompensa: -127.81376808212536 ------------------------------------------------- success
Jogo: 143 \ Raio: 1.3000000000000003 \ Ângulo: 350.00000000000006 Recompensa: 172.69018972801075 ------------------------------------------------- success
Jogo: 144 \ Raio: 1.4000000000000004 \ Ângulo: 0.0 Recompensa: 174.2636386968325 ------------------------------------------------- success
Jogo: 145 \ Raio: 1.4000000000000004 \ Ângulo: 10.0 Recompensa: 180.31320214492487 ------------------------------------------------- success
Jogo: 146 \ Raio: 1.4000000000000004 \ Ângulo: 20.0 Recompensa: 171.70749403993992 ------------------------------------------------- success
Jogo: 147 \ Raio: 1.4000000000000004 \ Ângulo: 29.999999999999996 Recompensa: 176.50370912141315 ------------------------------------------------- success
Jogo: 148 \ Raio: 1.4000000000000004 \ Ângulo: 40.0 Recompensa: 165.26107190764242 ------------------------------------------------- success
Jogo: 149 \ Raio: 1.4000000000000004 \ Ângulo: 50.0 Recompensa: 168.33200270427255 ------------------------------------------------- success
Jogo: 150 \ Raio: 1.4000000000000004 \ Ângulo: 59.99999999999999 Recompensa: 165.11056090338604 ------------------------------------------------- success
Jogo: 151 \ Raio: 1.4000000000000004 \ Ângulo: 70.0 Recompensa: 165.5530293102837 ------------------------------------------------- success
Jogo: 152 \ Raio: 1.4000000000000004 \ Ângulo: 80.0 Recompensa: 162.7309609499775 ------------------------------------------------- success
Jogo: 153 \ Raio: 1.4000000000000004 \ Ângulo: 90.0 Recompensa: 153.9154694744152 ------------------------------------------------- success
Jogo: 154 \ Raio: 1.4000000000000004 \ Ângulo: 100.0 Recompensa: 143.8694891419287 ------------------------------------------------- success
Jogo: 155 \ Raio: 1.4000000000000004 \ Ângulo: 110.0 Recompensa: 132.88562290610824 ------------------------------------------------- success
Jogo: 156 \ Raio: 1.4000000000000004 \ Ângulo: 119.99999999999999 Recompensa: 123.28086519177462 ------------------------------------------------- success
Jogo: 157 \ Raio: 1.4000000000000004 \ Ângulo: 130.0 Recompensa: 110.67511660324998 ------------------------------------------------- success
Jogo: 158 \ Raio: 1.4000000000000004 \ Ângulo: 140.0 Recompensa: 97.42527385591997 ------------------------------------------------- success
Jogo: 159 \ Raio: 1.4000000000000004 \ Ângulo: 150.00000000000003 Recompensa: 78.54190253099561 ------------------------------------------------- success
Jogo: 160 \ Raio: 1.4000000000000004 \ Ângulo: 160.0 Recompensa: 58.48117048591507 ------------------------------------------------- success
Jogo: 161 \ Raio: 1.4000000000000004 \ Ângulo: 170.0 Recompensa: 37.21148560752815 ------------------------------------------------- success
Jogo: 162 \ Raio: 1.4000000000000004 \ Ângulo: 180.0 Recompensa: -1.9048409112357945 ------------------------------------------------- success
Jogo: 163 \ Raio: 1.4000000000000004 \ Ângulo: 190.0 Recompensa: 52.81149046379255 ------------------------------------------------- success
Jogo: 164 \ Raio: 1.4000000000000004 \ Ângulo: 200.0 Recompensa: 66.91345847005229 ------------------------------------------------- success
Jogo: 165 \ Raio: 1.4000000000000004 \ Ângulo: 209.99999999999997 Recompensa: 74.69450616590555 ------------------------------------------------- success
Jogo: 166 \ Raio: 1.4000000000000004 \ Ângulo: 220.0 Recompensa: 97.40918507917395 ------------------------------------------------- success
Jogo: 167 \ Raio: 1.4000000000000004 \ Ângulo: 229.99999999999997 Recompensa: 107.78864552374854 ------------------------------------------------- success
Jogo: 168 \ Raio: 1.4000000000000004 \ Ângulo: 239.99999999999997 Recompensa: 123.30175762111615 ------------------------------------------------- success
Jogo: 169 \ Raio: 1.4000000000000004 \ Ângulo: 249.99999999999997 Recompensa: 132.82477870613766 ------------------------------------------------- success
Jogo: 170 \ Raio: 1.4000000000000004 \ Ângulo: 260.0 Recompensa: 141.37318144422267 ------------------------------------------------- success
Jogo: 171 \ Raio: 1.4000000000000004 \ Ângulo: 270.0 Recompensa: 149.026149594459 ------------------------------------------------- success
Jogo: 172 \ Raio: 1.4000000000000004 \ Ângulo: 280.0 Recompensa: 162.7310282614775 ------------------------------------------------- success
Jogo: 173 \ Raio: 1.4000000000000004 \ Ângulo: 290.0 Recompensa: 166.10089921197138 ------------------------------------------------- success
Jogo: 174 \ Raio: 1.4000000000000004 \ Ângulo: 300.00000000000006 Recompensa: 162.0804380706816 ------------------------------------------------- success
Jogo: 175 \ Raio: 1.4000000000000004 \ Ângulo: 310.0 Recompensa: 173.36700971533844 ------------------------------------------------- success
Jogo: 176 \ Raio: 1.4000000000000004 \ Ângulo: 320.0 Recompensa: 166.03935487524672 ------------------------------------------------- success
Jogo: 177 \ Raio: 1.4000000000000004 \ Ângulo: 329.99999999999994 Recompensa: 169.0865358860677 ------------------------------------------------- success
Jogo: 178 \ Raio: 1.4000000000000004 \ Ângulo: 340.0 Recompensa: 149.75115362906917 ------------------------------------------------- success
Jogo: 179 \ Raio: 1.4000000000000004 \ Ângulo: 350.00000000000006 Recompensa: 173.7104951087223 -------------------------------------------------